\\nimport sys\\npython3 = True if sys.hexversion > 50331648 else False\\nimport genpy\\nimport struct\\nimport arm_navigation_msgs.msg\\nimport geometry_msgs.msg\\nimport std_msgs.msg\\nimport genpy\\nimport sensor_msgs.msg\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n _md5sum = '67ad55e9bed9c8f21dfb4b9b1ca8df7d'\\n _type = 'arm_navigation_msgs/GetPlanningSceneRequest'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\n\\nPlanningScene planning_scene_diff\\n\\n\\narm_navigation_msgs/OrderedCollisionOperations operations\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n================================================================================\\nMSG: arm_navigation_msgs/OrderedCollisionOperations\\n# A set of collision operations that will be performed in the order they are specified\\nCollisionOperation[] collision_operations\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionOperation\\n# A definition of a collision operation\\n# E.g. (\\\"gripper\\\",COLLISION_SET_ALL,ENABLE) will enable collisions \\n# between the gripper and all objects in the collision space\\n\\nstring object1\\nstring object2\\nstring COLLISION_SET_ALL=\\\"all\\\"\\nstring COLLISION_SET_OBJECTS=\\\"objects\\\"\\nstring COLLISION_SET_ATTACHED_OBJECTS=\\\"attached\\\"\\n\\n# The penetration distance to which collisions are allowed. This is 0.0 by default.\\nfloat64 penetration_distance\\n\\n# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\\nint32 operation\\nint32 DISABLE=0\\nint32 ENABLE=1\\n\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene_diff', 'operations']\\n _slot_types = ['arm_navigation_msgs/PlanningScene',\\n 'arm_navigation_msgs/OrderedCollisionOperations']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v1 = val1.position\\n _x = _v1\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v2 = val1.orientation\\n _x = _v2\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v3 = val1.header\\n buff.write(_struct_I.pack(_v3.seq))\\n _v4 = _v3.stamp\\n _x = _v4\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v3.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v5 = val1.transform\\n _v6 = _v5.translation\\n _x = _v6\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v7 = _v5.rotation\\n _x = _v7\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v8 = val1.shape\\n buff.write(_struct_b.pack(_v8.type))\\n length = len(_v8.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v8.dimensions))\\n length = len(_v8.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v8.triangles))\\n length = len(_v8.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v8.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v9 = val1.pose_stamped\\n _v10 = _v9.header\\n buff.write(_struct_I.pack(_v10.seq))\\n _v11 = _v10.stamp\\n _x = _v11\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v10.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v12 = _v9.pose\\n _v13 = _v12.position\\n _x = _v13\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v14 = _v12.orientation\\n _x = _v14\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v15 = val1.header\\n buff.write(_struct_I.pack(_v15.seq))\\n _v16 = _v15.stamp\\n _x = _v16\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v15.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v17 = val1.operation\\n buff.write(_struct_b.pack(_v17.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v18 = val2.position\\n _x = _v18\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v19 = val2.orientation\\n _x = _v19\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v20 = val1.object\\n _v21 = _v20.header\\n buff.write(_struct_I.pack(_v21.seq))\\n _v22 = _v21.stamp\\n _x = _v22\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v21.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v20.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v20.padding))\\n _v23 = _v20.operation\\n buff.write(_struct_b.pack(_v23.operation))\\n length = len(_v20.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v20.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.poses:\\n _v24 = val3.position\\n _x = _v24\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v25 = val3.orientation\\n _x = _v25\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v26 = val1.center\\n _x = _v26\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v27 = val1.extents\\n _x = _v27\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v28 = val1.axis\\n _x = _v28\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n_struct_I = genpy.struct_I\\n_struct_b = struct.Struct('<b')\\n_struct_d = struct.Struct('<d')\\n_struct_f = struct.Struct('<f')\\n_struct_di = struct.Struct('<di')\\n_struct_3f = struct.Struct('<3f')\\n_struct_3I = struct.Struct('<3I')\\n_struct_4d = struct.Struct('<4d')\\n_struct_2I = struct.Struct('<2I')\\n_struct_3d = struct.Struct('<3d')\\n<docstring token>\\nimport sys\\npython3 = True if sys.hexversion > 50331648 else False\\nimport genpy\\nimport struct\\nimport arm_navigation_msgs.msg\\nimport geometry_msgs.msg\\nimport std_msgs.msg\\nimport genpy\\nimport sensor_msgs.msg\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n_struct_I = genpy.struct_I\\n_struct_b = struct.Struct('<b')\\n_struct_d = struct.Struct('<d')\\n_struct_f = struct.Struct('<f')\\n_struct_3f = struct.Struct('<3f')\\n_struct_3I = struct.Struct('<3I')\\n_struct_4d = struct.Struct('<4d')\\n_struct_2I = struct.Struct('<2I')\\n_struct_3d = struct.Struct('<3d')\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\npython3 = True if sys.hexversion > 50331648 else False\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n _md5sum = '67ad55e9bed9c8f21dfb4b9b1ca8df7d'\\n _type = 'arm_navigation_msgs/GetPlanningSceneRequest'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\n\\nPlanningScene planning_scene_diff\\n\\n\\narm_navigation_msgs/OrderedCollisionOperations operations\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n================================================================================\\nMSG: arm_navigation_msgs/OrderedCollisionOperations\\n# A set of collision operations that will be performed in the order they are specified\\nCollisionOperation[] collision_operations\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionOperation\\n# A definition of a collision operation\\n# E.g. (\\\"gripper\\\",COLLISION_SET_ALL,ENABLE) will enable collisions \\n# between the gripper and all objects in the collision space\\n\\nstring object1\\nstring object2\\nstring COLLISION_SET_ALL=\\\"all\\\"\\nstring COLLISION_SET_OBJECTS=\\\"objects\\\"\\nstring COLLISION_SET_ATTACHED_OBJECTS=\\\"attached\\\"\\n\\n# The penetration distance to which collisions are allowed. This is 0.0 by default.\\nfloat64 penetration_distance\\n\\n# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\\nint32 operation\\nint32 DISABLE=0\\nint32 ENABLE=1\\n\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene_diff', 'operations']\\n _slot_types = ['arm_navigation_msgs/PlanningScene',\\n 'arm_navigation_msgs/OrderedCollisionOperations']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v1 = val1.position\\n _x = _v1\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v2 = val1.orientation\\n _x = _v2\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v3 = val1.header\\n buff.write(_struct_I.pack(_v3.seq))\\n _v4 = _v3.stamp\\n _x = _v4\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v3.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v5 = val1.transform\\n _v6 = _v5.translation\\n _x = _v6\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v7 = _v5.rotation\\n _x = _v7\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v8 = val1.shape\\n buff.write(_struct_b.pack(_v8.type))\\n length = len(_v8.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v8.dimensions))\\n length = len(_v8.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v8.triangles))\\n length = len(_v8.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v8.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v9 = val1.pose_stamped\\n _v10 = _v9.header\\n buff.write(_struct_I.pack(_v10.seq))\\n _v11 = _v10.stamp\\n _x = _v11\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v10.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v12 = _v9.pose\\n _v13 = _v12.position\\n _x = _v13\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v14 = _v12.orientation\\n _x = _v14\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v15 = val1.header\\n buff.write(_struct_I.pack(_v15.seq))\\n _v16 = _v15.stamp\\n _x = _v16\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v15.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v17 = val1.operation\\n buff.write(_struct_b.pack(_v17.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v18 = val2.position\\n _x = _v18\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v19 = val2.orientation\\n _x = _v19\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v20 = val1.object\\n _v21 = _v20.header\\n buff.write(_struct_I.pack(_v21.seq))\\n _v22 = _v21.stamp\\n _x = _v22\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v21.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v20.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v20.padding))\\n _v23 = _v20.operation\\n buff.write(_struct_b.pack(_v23.operation))\\n length = len(_v20.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v20.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.poses:\\n _v24 = val3.position\\n _x = _v24\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v25 = val3.orientation\\n _x = _v25\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v26 = val1.center\\n _x = _v26\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v27 = val1.extents\\n _x = _v27\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v28 = val1.axis\\n _x = _v28\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n_struct_I = genpy.struct_I\\n_struct_b = struct.Struct('<b')\\n_struct_d = struct.Struct('<d')\\n_struct_f = struct.Struct('<f')\\n_struct_di = struct.Struct('<di')\\n_struct_3f = struct.Struct('<3f')\\n_struct_3I = struct.Struct('<3I')\\n_struct_4d = struct.Struct('<4d')\\n_struct_2I = struct.Struct('<2I')\\n_struct_3d = struct.Struct('<3d')\\n<docstring token>\\n<import token>\\npython3 = True if sys.hexversion > 50331648 else False\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n_struct_I = genpy.struct_I\\n_struct_b = struct.Struct('<b')\\n_struct_d = struct.Struct('<d')\\n_struct_f = struct.Struct('<f')\\n_struct_3f = struct.Struct('<3f')\\n_struct_3I = struct.Struct('<3I')\\n_struct_4d = struct.Struct('<4d')\\n_struct_2I = struct.Struct('<2I')\\n_struct_3d = struct.Struct('<3d')\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n _md5sum = '67ad55e9bed9c8f21dfb4b9b1ca8df7d'\\n _type = 'arm_navigation_msgs/GetPlanningSceneRequest'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\n\\nPlanningScene planning_scene_diff\\n\\n\\narm_navigation_msgs/OrderedCollisionOperations operations\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n================================================================================\\nMSG: arm_navigation_msgs/OrderedCollisionOperations\\n# A set of collision operations that will be performed in the order they are specified\\nCollisionOperation[] collision_operations\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionOperation\\n# A definition of a collision operation\\n# E.g. (\\\"gripper\\\",COLLISION_SET_ALL,ENABLE) will enable collisions \\n# between the gripper and all objects in the collision space\\n\\nstring object1\\nstring object2\\nstring COLLISION_SET_ALL=\\\"all\\\"\\nstring COLLISION_SET_OBJECTS=\\\"objects\\\"\\nstring COLLISION_SET_ATTACHED_OBJECTS=\\\"attached\\\"\\n\\n# The penetration distance to which collisions are allowed. This is 0.0 by default.\\nfloat64 penetration_distance\\n\\n# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\\nint32 operation\\nint32 DISABLE=0\\nint32 ENABLE=1\\n\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene_diff', 'operations']\\n _slot_types = ['arm_navigation_msgs/PlanningScene',\\n 'arm_navigation_msgs/OrderedCollisionOperations']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v1 = val1.position\\n _x = _v1\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v2 = val1.orientation\\n _x = _v2\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v3 = val1.header\\n buff.write(_struct_I.pack(_v3.seq))\\n _v4 = _v3.stamp\\n _x = _v4\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v3.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v5 = val1.transform\\n _v6 = _v5.translation\\n _x = _v6\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v7 = _v5.rotation\\n _x = _v7\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v8 = val1.shape\\n buff.write(_struct_b.pack(_v8.type))\\n length = len(_v8.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v8.dimensions))\\n length = len(_v8.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v8.triangles))\\n length = len(_v8.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v8.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v9 = val1.pose_stamped\\n _v10 = _v9.header\\n buff.write(_struct_I.pack(_v10.seq))\\n _v11 = _v10.stamp\\n _x = _v11\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v10.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v12 = _v9.pose\\n _v13 = _v12.position\\n _x = _v13\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v14 = _v12.orientation\\n _x = _v14\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v15 = val1.header\\n buff.write(_struct_I.pack(_v15.seq))\\n _v16 = _v15.stamp\\n _x = _v16\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v15.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v17 = val1.operation\\n buff.write(_struct_b.pack(_v17.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v18 = val2.position\\n _x = _v18\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v19 = val2.orientation\\n _x = _v19\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v20 = val1.object\\n _v21 = _v20.header\\n buff.write(_struct_I.pack(_v21.seq))\\n _v22 = _v21.stamp\\n _x = _v22\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v21.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v20.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v20.padding))\\n _v23 = _v20.operation\\n buff.write(_struct_b.pack(_v23.operation))\\n length = len(_v20.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v20.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.poses:\\n _v24 = val3.position\\n _x = _v24\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v25 = val3.orientation\\n _x = _v25\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v26 = val1.center\\n _x = _v26\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v27 = val1.extents\\n _x = _v27\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v28 = val1.axis\\n _x = _v28\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene_diff.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v1 = val1.position\\n _x = _v1\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v2 = val1.orientation\\n _x = _v2\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v3 = val1.header\\n buff.write(_struct_I.pack(_v3.seq))\\n _v4 = _v3.stamp\\n _x = _v4\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v3.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v5 = val1.transform\\n _v6 = _v5.translation\\n _x = _v6\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v7 = _v5.rotation\\n _x = _v7\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v8 = val1.shape\\n buff.write(_struct_b.pack(_v8.type))\\n length = len(_v8.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v8.dimensions))\\n length = len(_v8.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v8.triangles))\\n length = len(_v8.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v8.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v9 = val1.pose_stamped\\n _v10 = _v9.header\\n buff.write(_struct_I.pack(_v10.seq))\\n _v11 = _v10.stamp\\n _x = _v11\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v10.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v12 = _v9.pose\\n _v13 = _v12.position\\n _x = _v13\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v14 = _v12.orientation\\n _x = _v14\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v15 = val1.header\\n buff.write(_struct_I.pack(_v15.seq))\\n _v16 = _v15.stamp\\n _x = _v16\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v15.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v17 = val1.operation\\n buff.write(_struct_b.pack(_v17.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v18 = val2.position\\n _x = _v18\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v19 = val2.orientation\\n _x = _v19\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v20 = val1.object\\n _v21 = _v20.header\\n buff.write(_struct_I.pack(_v21.seq))\\n _v22 = _v21.stamp\\n _x = _v22\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v21.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v20.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v20.padding))\\n _v23 = _v20.operation\\n buff.write(_struct_b.pack(_v23.operation))\\n length = len(_v20.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v20.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v20.poses:\\n _v24 = val3.position\\n _x = _v24\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v25 = val3.orientation\\n _x = _v25\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v26 = val1.center\\n _x = _v26\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v27 = val1.extents\\n _x = _v27\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v28 = val1.axis\\n _x = _v28\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n <function token>\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene_diff,operations\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneRequest, self).__init__(*args, **kwds)\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n else:\\n self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n <function token>\\n <function token>\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.robot_state.\\n joint_state.header.seq, _x.planning_scene_diff.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene_diff.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id)\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n position.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n velocity.tostring())\\n length = len(self.planning_scene_diff.robot_state.joint_state.\\n effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene_diff.robot_state.joint_state.\\n effort.tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:\\n _v57 = val1.position\\n _x = _v57\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v58 = val1.orientation\\n _x = _v58\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.fixed_frame_transforms:\\n _v59 = val1.header\\n buff.write(_struct_I.pack(_v59.seq))\\n _v60 = _v59.stamp\\n _x = _v60\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v59.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v61 = val1.transform\\n _v62 = _v61.translation\\n _x = _v62\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v63 = _v61.rotation\\n _x = _v63\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene_diff.allowed_collision_matrix.\\n entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene_diff.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v64 = val1.shape\\n buff.write(_struct_b.pack(_v64.type))\\n length = len(_v64.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v64.dimensions.tostring())\\n length = len(_v64.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v64.triangles.tostring())\\n length = len(_v64.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v64.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v65 = val1.pose_stamped\\n _v66 = _v65.header\\n buff.write(_struct_I.pack(_v66.seq))\\n _v67 = _v66.stamp\\n _x = _v67\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v66.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v68 = _v65.pose\\n _v69 = _v68.position\\n _x = _v69\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v70 = _v68.orientation\\n _x = _v70\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene_diff.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene_diff.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_objects:\\n _v71 = val1.header\\n buff.write(_struct_I.pack(_v71.seq))\\n _v72 = _v71.stamp\\n _x = _v72\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v71.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v73 = val1.operation\\n buff.write(_struct_b.pack(_v73.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v74 = val2.position\\n _x = _v74\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v75 = val2.orientation\\n _x = _v75\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene_diff.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v76 = val1.object\\n _v77 = _v76.header\\n buff.write(_struct_I.pack(_v77.seq))\\n _v78 = _v77.stamp\\n _x = _v78\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v77.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v76.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v76.padding))\\n _v79 = _v76.operation\\n buff.write(_struct_b.pack(_v79.operation))\\n length = len(_v76.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v76.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v76.poses:\\n _v80 = val3.position\\n _x = _v80\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v81 = val3.orientation\\n _x = _v81\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map\\n .header.seq, _x.planning_scene_diff.collision_map.header.\\n stamp.secs, _x.planning_scene_diff.collision_map.header.\\n stamp.nsecs))\\n _x = self.planning_scene_diff.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene_diff.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene_diff.collision_map.boxes:\\n _v82 = val1.center\\n _x = _v82\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v83 = val1.extents\\n _x = _v83\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v84 = val1.axis\\n _x = _v84\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n length = len(self.operations.collision_operations)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.operations.collision_operations:\\n _x = val1.object1\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.object2\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1\\n buff.write(_struct_di.pack(_x.penetration_distance, _x.\\n operation))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (struct\\n .unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (struct\\n .unpack(pattern, str[start:end]))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v29 = val1.position\\n _x = _v29\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v30 = val1.orientation\\n _x = _v30\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v31 = val1.header\\n start = end\\n end += 4\\n _v31.seq, = _struct_I.unpack(str[start:end])\\n _v32 = _v31.stamp\\n _x = _v32\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v31.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v31.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v33 = val1.transform\\n _v34 = _v33.translation\\n _x = _v34\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v35 = _v33.rotation\\n _x = _v35\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v36 = val1.shape\\n start = end\\n end += 1\\n _v36.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v36.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v36.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v36.vertices.append(val3)\\n _v37 = val1.pose_stamped\\n _v38 = _v37.header\\n start = end\\n end += 4\\n _v38.seq, = _struct_I.unpack(str[start:end])\\n _v39 = _v38.stamp\\n _x = _v39\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v38.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v38.frame_id = str[start:end]\\n _v40 = _v37.pose\\n _v41 = _v40.position\\n _x = _v41\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v42 = _v40.orientation\\n _x = _v42\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v43 = val1.header\\n start = end\\n end += 4\\n _v43.seq, = _struct_I.unpack(str[start:end])\\n _v44 = _v43.stamp\\n _x = _v44\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v43.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v43.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v45 = val1.operation\\n start = end\\n end += 1\\n _v45.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v46 = val2.position\\n _x = _v46\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v47 = val2.orientation\\n _x = _v47\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v48 = val1.object\\n _v49 = _v48.header\\n start = end\\n end += 4\\n _v49.seq, = _struct_I.unpack(str[start:end])\\n _v50 = _v49.stamp\\n _x = _v50\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v49.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v49.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v48.id = str[start:end].decode('utf-8')\\n else:\\n _v48.id = str[start:end]\\n start = end\\n end += 4\\n _v48.padding, = _struct_f.unpack(str[start:end])\\n _v51 = _v48.operation\\n start = end\\n end += 1\\n _v51.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v48.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v48.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v52 = val3.position\\n _x = _v52\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v53 = val3.orientation\\n _x = _v53\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v48.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v54 = val1.center\\n _x = _v54\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v55 = val1.extents\\n _x = _v55\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v56 = val1.axis\\n _x = _v56\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n <function token>\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene_diff is None:\\n self.planning_scene_diff = (arm_navigation_msgs.msg.\\n PlanningScene())\\n if self.operations is None:\\n self.operations = (arm_navigation_msgs.msg.\\n OrderedCollisionOperations())\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.\\n planning_scene_diff.robot_state.joint_state.header.stamp.\\n secs, _x.planning_scene_diff.robot_state.joint_state.header\\n .stamp.nsecs) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene_diff.robot_state.joint_state.header.\\n frame_id) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.joint_state.name.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.position = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.velocity = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene_diff.robot_state.joint_state.effort = (numpy\\n .frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp\\n .secs, _x.planning_scene_diff.robot_state.\\n multi_dof_joint_state.stamp.nsecs) = _struct_2I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n joint_names) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene_diff.robot_state.multi_dof_joint_state.poses\\n ) = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v85 = val1.position\\n _x = _v85\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v86 = val1.orientation\\n _x = _v86\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v87 = val1.header\\n start = end\\n end += 4\\n _v87.seq, = _struct_I.unpack(str[start:end])\\n _v88 = _v87.stamp\\n _x = _v88\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v87.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v87.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v89 = val1.transform\\n _v90 = _v89.translation\\n _x = _v90\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v91 = _v89.rotation\\n _x = _v91\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene_diff.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene_diff.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene_diff.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v92 = val1.shape\\n start = end\\n end += 1\\n _v92.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v92.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v92.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v92.vertices.append(val3)\\n _v93 = val1.pose_stamped\\n _v94 = _v93.header\\n start = end\\n end += 4\\n _v94.seq, = _struct_I.unpack(str[start:end])\\n _v95 = _v94.stamp\\n _x = _v95\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v94.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v94.frame_id = str[start:end]\\n _v96 = _v93.pose\\n _v97 = _v96.position\\n _x = _v97\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v98 = _v96.orientation\\n _x = _v98\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene_diff.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v99 = val1.header\\n start = end\\n end += 4\\n _v99.seq, = _struct_I.unpack(str[start:end])\\n _v100 = _v99.stamp\\n _x = _v100\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v99.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v99.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v101 = val1.operation\\n start = end\\n end += 1\\n _v101.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v102 = val2.position\\n _x = _v102\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v103 = val2.orientation\\n _x = _v103\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene_diff.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v104 = val1.object\\n _v105 = _v104.header\\n start = end\\n end += 4\\n _v105.seq, = _struct_I.unpack(str[start:end])\\n _v106 = _v105.stamp\\n _x = _v106\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v105.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v105.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v104.id = str[start:end].decode('utf-8')\\n else:\\n _v104.id = str[start:end]\\n start = end\\n end += 4\\n _v104.padding, = _struct_f.unpack(str[start:end])\\n _v107 = _v104.operation\\n start = end\\n end += 1\\n _v107.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v104.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v104.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v108 = val3.position\\n _x = _v108\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v109 = val3.orientation\\n _x = _v109\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v104.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene_diff.attached_collision_objects.append(val1\\n )\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene_diff.collision_map.header.seq, _x.\\n planning_scene_diff.collision_map.header.stamp.secs, _x.\\n planning_scene_diff.collision_map.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end].decode('utf-8')\\n else:\\n self.planning_scene_diff.collision_map.header.frame_id = str[\\n start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v110 = val1.center\\n _x = _v110\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v111 = val1.extents\\n _x = _v111\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v112 = val1.axis\\n _x = _v112\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene_diff.collision_map.boxes.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.operations.collision_operations = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionOperation()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object1 = str[start:end].decode('utf-8')\\n else:\\n val1.object1 = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.object2 = str[start:end].decode('utf-8')\\n else:\\n val1.object2 = str[start:end]\\n _x = val1\\n start = end\\n end += 12\\n _x.penetration_distance, _x.operation = _struct_di.unpack(str\\n [start:end])\\n self.operations.collision_operations.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneRequest(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n _md5sum = '285525c9abe002fbafa99af84a14b4cb'\\n _type = 'arm_navigation_msgs/GetPlanningSceneResponse'\\n _has_header = False\\n _full_text = \\\"\\\"\\\"\\n\\nPlanningScene planning_scene\\n\\n\\n\\n\\n\\n================================================================================\\nMSG: arm_navigation_msgs/PlanningScene\\n#full robot state\\narm_navigation_msgs/RobotState robot_state\\n\\n#additional frames for duplicating tf\\ngeometry_msgs/TransformStamped[] fixed_frame_transforms\\n\\n#full allowed collision matrix\\nAllowedCollisionMatrix allowed_collision_matrix\\n\\n#allowed contacts\\narm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\\n\\n#all link paddings\\narm_navigation_msgs/LinkPadding[] link_padding\\n\\n#collision objects\\narm_navigation_msgs/CollisionObject[] collision_objects\\narm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\\n\\n#the collision map\\narm_navigation_msgs/CollisionMap collision_map\\n\\n================================================================================\\nMSG: arm_navigation_msgs/RobotState\\n# This message contains information about the robot state, i.e. the positions of its joints and links\\nsensor_msgs/JointState joint_state\\narm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\\n\\n================================================================================\\nMSG: sensor_msgs/JointState\\n# This is a message that holds data to describe the state of a set of torque controlled joints. \\n#\\n# The state of each joint (revolute or prismatic) is defined by:\\n# * the position of the joint (rad or m),\\n# * the velocity of the joint (rad/s or m/s) and \\n# * the effort that is applied in the joint (Nm or N).\\n#\\n# Each joint is uniquely identified by its name\\n# The header specifies the time at which the joint states were recorded. All the joint states\\n# in one message have to be recorded at the same time.\\n#\\n# This message consists of a multiple arrays, one for each part of the joint state. \\n# The goal is to make each of the fields optional. When e.g. your joints have no\\n# effort associated with them, you can leave the effort array empty. \\n#\\n# All arrays in this message should have the same size, or be empty.\\n# This is the only way to uniquely associate the joint name with the correct\\n# states.\\n\\n\\nHeader header\\n\\nstring[] name\\nfloat64[] position\\nfloat64[] velocity\\nfloat64[] effort\\n\\n================================================================================\\nMSG: std_msgs/Header\\n# Standard metadata for higher-level stamped data types.\\n# This is generally used to communicate timestamped data \\n# in a particular coordinate frame.\\n# \\n# sequence ID: consecutively increasing ID \\nuint32 seq\\n#Two-integer timestamp that is expressed as:\\n# * stamp.secs: seconds (stamp_secs) since epoch\\n# * stamp.nsecs: nanoseconds since stamp_secs\\n# time-handling sugar is provided by the client library\\ntime stamp\\n#Frame this data is associated with\\n# 0: no frame\\n# 1: global frame\\nstring frame_id\\n\\n================================================================================\\nMSG: arm_navigation_msgs/MultiDOFJointState\\n#A representation of a multi-dof joint state\\ntime stamp\\nstring[] joint_names\\nstring[] frame_ids\\nstring[] child_frame_ids\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: geometry_msgs/Pose\\n# A representation of pose in free space, composed of postion and orientation. \\nPoint position\\nQuaternion orientation\\n\\n================================================================================\\nMSG: geometry_msgs/Point\\n# This contains the position of a point in free space\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n\\n================================================================================\\nMSG: geometry_msgs/Quaternion\\n# This represents an orientation in free space in quaternion form.\\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\nfloat64 w\\n\\n================================================================================\\nMSG: geometry_msgs/TransformStamped\\n# This expresses a transform from coordinate frame header.frame_id\\n# to the coordinate frame child_frame_id\\n#\\n# This message is mostly used by the \\n# <a href=\\\"http://www.ros.org/wiki/tf\\\">tf</a> package. \\n# See it's documentation for more information.\\n\\nHeader header\\nstring child_frame_id # the frame id of the child frame\\nTransform transform\\n\\n================================================================================\\nMSG: geometry_msgs/Transform\\n# This represents the transform between two coordinate frames in free space.\\n\\nVector3 translation\\nQuaternion rotation\\n\\n================================================================================\\nMSG: geometry_msgs/Vector3\\n# This represents a vector in free space. \\n\\nfloat64 x\\nfloat64 y\\nfloat64 z\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionMatrix\\n# the list of link names in the matrix\\nstring[] link_names\\n\\n# the individual entries in the allowed collision matrix\\n# symmetric, with same order as link_names\\nAllowedCollisionEntry[] entries\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedCollisionEntry\\n# whether or not collision checking is enabled\\nbool[] enabled\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AllowedContactSpecification\\n# The names of the regions\\nstring name\\n\\n# The shape of the region in the environment\\narm_navigation_msgs/Shape shape\\n\\n# The pose of the space defining the region\\ngeometry_msgs/PoseStamped pose_stamped\\n\\n# The set of links that will be allowed to have penetration contact within this region\\nstring[] link_names\\n\\n# The maximum penetration depth allowed for every link\\nfloat64 penetration_depth\\n\\n================================================================================\\nMSG: arm_navigation_msgs/Shape\\nbyte SPHERE=0\\nbyte BOX=1\\nbyte CYLINDER=2\\nbyte MESH=3\\n\\nbyte type\\n\\n\\n#### define sphere, box, cylinder ####\\n# the origin of each shape is considered at the shape's center\\n\\n# for sphere\\n# radius := dimensions[0]\\n\\n# for cylinder\\n# radius := dimensions[0]\\n# length := dimensions[1]\\n# the length is along the Z axis\\n\\n# for box\\n# size_x := dimensions[0]\\n# size_y := dimensions[1]\\n# size_z := dimensions[2]\\nfloat64[] dimensions\\n\\n\\n#### define mesh ####\\n\\n# list of triangles; triangle k is defined by tre vertices located\\n# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\\nint32[] triangles\\ngeometry_msgs/Point[] vertices\\n\\n================================================================================\\nMSG: geometry_msgs/PoseStamped\\n# A Pose with reference coordinate frame and timestamp\\nHeader header\\nPose pose\\n\\n================================================================================\\nMSG: arm_navigation_msgs/LinkPadding\\n#name for the link\\nstring link_name\\n\\n# padding to apply to the link\\nfloat64 padding\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObject\\n# a header, used for interpreting the poses\\nHeader header\\n\\n# the id of the object\\nstring id\\n\\n# The padding used for filtering points near the object.\\n# This does not affect collision checking for the object. \\n# Set to negative to get zero padding.\\nfloat32 padding\\n\\n#This contains what is to be done with the object\\nCollisionObjectOperation operation\\n\\n#the shapes associated with the object\\narm_navigation_msgs/Shape[] shapes\\n\\n#the poses associated with the shapes - will be transformed using the header\\ngeometry_msgs/Pose[] poses\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionObjectOperation\\n#Puts the object into the environment\\n#or updates the object if already added\\nbyte ADD=0\\n\\n#Removes the object from the environment entirely\\nbyte REMOVE=1\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes an attached object, detaches from the attached link\\n#But adds back in as regular object\\nbyte DETACH_AND_ADD_AS_OBJECT=2\\n\\n#Only valid within the context of a CollisionAttachedObject message\\n#Will be ignored if sent with an CollisionObject message\\n#Takes current object in the environment and removes it as\\n#a regular object\\nbyte ATTACH_AND_REMOVE_AS_OBJECT=3\\n\\n# Byte code for operation\\nbyte operation\\n\\n================================================================================\\nMSG: arm_navigation_msgs/AttachedCollisionObject\\n# The CollisionObject will be attached with a fixed joint to this link\\n# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \\n# is set to REMOVE will remove all attached bodies attached to any object\\nstring link_name\\n\\n#Reserved for indicating that all attached objects should be removed\\nstring REMOVE_ALL_ATTACHED_OBJECTS = \\\"all\\\"\\n\\n#This contains the actual shapes and poses for the CollisionObject\\n#to be attached to the link\\n#If action is remove and no object.id is set, all objects\\n#attached to the link indicated by link_name will be removed\\nCollisionObject object\\n\\n# The set of links that the attached objects are allowed to touch\\n# by default - the link_name is included by default\\nstring[] touch_links\\n\\n================================================================================\\nMSG: arm_navigation_msgs/CollisionMap\\n#header for interpreting box positions\\nHeader header\\n\\n#boxes for use in collision testing\\nOrientedBoundingBox[] boxes\\n\\n================================================================================\\nMSG: arm_navigation_msgs/OrientedBoundingBox\\n#the center of the box\\ngeometry_msgs/Point32 center\\n\\n#the extents of the box, assuming the center is at the point\\ngeometry_msgs/Point32 extents\\n\\n#the axis of the box\\ngeometry_msgs/Point32 axis\\n\\n#the angle of rotation around the axis\\nfloat32 angle\\n\\n================================================================================\\nMSG: geometry_msgs/Point32\\n# This contains the position of a point in free space(with 32 bits of precision).\\n# It is recommeded to use Point wherever possible instead of Point32. \\n# \\n# This recommendation is to promote interoperability. \\n#\\n# This message is designed to take up less space when sending\\n# lots of points at once, as in the case of a PointCloud. \\n\\nfloat32 x\\nfloat32 y\\nfloat32 z\\n\\\"\\\"\\\"\\n __slots__ = ['planning_scene']\\n _slot_types = ['arm_navigation_msgs/PlanningScene']\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n\\n def _get_types(self):\\n \\\"\\\"\\\"\\n internal API method\\n \\\"\\\"\\\"\\n return self._slot_types\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n <function token>\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n def serialize_numpy(self, buff, numpy):\\n \\\"\\\"\\\"\\n serialize message with numpy array types into buffer\\n :param buff: buffer, ``StringIO``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.position\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.velocity\\n .tostring())\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(self.planning_scene.robot_state.joint_state.effort.\\n tostring())\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v169 = val1.position\\n _x = _v169\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v170 = val1.orientation\\n _x = _v170\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v171 = val1.header\\n buff.write(_struct_I.pack(_v171.seq))\\n _v172 = _v171.stamp\\n _x = _v172\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v171.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v173 = val1.transform\\n _v174 = _v173.translation\\n _x = _v174\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v175 = _v173.rotation\\n _x = _v175\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(val1.enabled.tostring())\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v176 = val1.shape\\n buff.write(_struct_b.pack(_v176.type))\\n length = len(_v176.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(_v176.dimensions.tostring())\\n length = len(_v176.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(_v176.triangles.tostring())\\n length = len(_v176.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v176.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v177 = val1.pose_stamped\\n _v178 = _v177.header\\n buff.write(_struct_I.pack(_v178.seq))\\n _v179 = _v178.stamp\\n _x = _v179\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v178.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v180 = _v177.pose\\n _v181 = _v180.position\\n _x = _v181\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v182 = _v180.orientation\\n _x = _v182\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v183 = val1.header\\n buff.write(_struct_I.pack(_v183.seq))\\n _v184 = _v183.stamp\\n _x = _v184\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v183.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v185 = val1.operation\\n buff.write(_struct_b.pack(_v185.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val2.dimensions.tostring())\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val2.triangles.tostring())\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v186 = val2.position\\n _x = _v186\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v187 = val2.orientation\\n _x = _v187\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v188 = val1.object\\n _v189 = _v188.header\\n buff.write(_struct_I.pack(_v189.seq))\\n _v190 = _v189.stamp\\n _x = _v190\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v189.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v188.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v188.padding))\\n _v191 = _v188.operation\\n buff.write(_struct_b.pack(_v191.operation))\\n length = len(_v188.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(val3.dimensions.tostring())\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(val3.triangles.tostring())\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v188.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v188.poses:\\n _v192 = val3.position\\n _x = _v192\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v193 = val3.orientation\\n _x = _v193\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v194 = val1.center\\n _x = _v194\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v195 = val1.extents\\n _x = _v195\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v196 = val1.axis\\n _x = _v196\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n <function token>\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n\\n def deserialize(self, str):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance\\n :param str: byte array of serialized message, ``str``\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (struct.\\n unpack(pattern, str[start:end]))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = struct.unpack(\\n pattern, str[start:end])\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v141 = val1.position\\n _x = _v141\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v142 = val1.orientation\\n _x = _v142\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v143 = val1.header\\n start = end\\n end += 4\\n _v143.seq, = _struct_I.unpack(str[start:end])\\n _v144 = _v143.stamp\\n _x = _v144\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v143.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v143.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v145 = val1.transform\\n _v146 = _v145.translation\\n _x = _v146\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v147 = _v145.rotation\\n _x = _v147\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = struct.unpack(pattern, str[start:end])\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v148 = val1.shape\\n start = end\\n end += 1\\n _v148.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v148.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v148.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v148.vertices.append(val3)\\n _v149 = val1.pose_stamped\\n _v150 = _v149.header\\n start = end\\n end += 4\\n _v150.seq, = _struct_I.unpack(str[start:end])\\n _v151 = _v150.stamp\\n _x = _v151\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v150.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v150.frame_id = str[start:end]\\n _v152 = _v149.pose\\n _v153 = _v152.position\\n _x = _v153\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v154 = _v152.orientation\\n _x = _v154\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v155 = val1.header\\n start = end\\n end += 4\\n _v155.seq, = _struct_I.unpack(str[start:end])\\n _v156 = _v155.stamp\\n _x = _v156\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v155.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v155.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v157 = val1.operation\\n start = end\\n end += 1\\n _v157.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v158 = val2.position\\n _x = _v158\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v159 = val2.orientation\\n _x = _v159\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v160 = val1.object\\n _v161 = _v160.header\\n start = end\\n end += 4\\n _v161.seq, = _struct_I.unpack(str[start:end])\\n _v162 = _v161.stamp\\n _x = _v162\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v161.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v161.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v160.id = str[start:end].decode('utf-8')\\n else:\\n _v160.id = str[start:end]\\n start = end\\n end += 4\\n _v160.padding, = _struct_f.unpack(str[start:end])\\n _v163 = _v160.operation\\n start = end\\n end += 1\\n _v163.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = struct.unpack(pattern, str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v160.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v160.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v164 = val3.position\\n _x = _v164\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v165 = val3.orientation\\n _x = _v165\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v160.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v166 = val1.center\\n _x = _v166\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v167 = val1.extents\\n _x = _v167\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v168 = val1.axis\\n _x = _v168\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n <function token>\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\\n def __init__(self, *args, **kwds):\\n \\\"\\\"\\\"\\n Constructor. Any message fields that are implicitly/explicitly\\n set to None will be assigned a default value. The recommend\\n use is keyword arguments as this is more robust to future message\\n changes. You cannot mix in-order arguments and keyword arguments.\\n\\n The available fields are:\\n planning_scene\\n\\n :param args: complete set of field values, in .msg order\\n :param kwds: use keyword arguments corresponding to message field names\\n to set specific fields.\\n \\\"\\\"\\\"\\n if args or kwds:\\n super(GetPlanningSceneResponse, self).__init__(*args, **kwds)\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n else:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n <function token>\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n <function token>\\n <function token>\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n <function token>\\n <function token>\\n\\n def deserialize_numpy(self, str, numpy):\\n \\\"\\\"\\\"\\n unpack serialized message in str into this message instance using numpy for array types\\n :param str: byte array of serialized message, ``str``\\n :param numpy: numpy python module\\n \\\"\\\"\\\"\\n try:\\n if self.planning_scene is None:\\n self.planning_scene = arm_navigation_msgs.msg.PlanningScene()\\n end = 0\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.robot_state.joint_state.header.seq, _x.\\n planning_scene.robot_state.joint_state.header.stamp.secs,\\n _x.planning_scene.robot_state.joint_state.header.stamp.nsecs\\n ) = _struct_3I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end].decode('utf-8')\\n else:\\n (self.planning_scene.robot_state.joint_state.header.frame_id\\n ) = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.joint_state.name = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.joint_state.name.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.position = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.velocity = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n self.planning_scene.robot_state.joint_state.effort = (numpy.\\n frombuffer(str[start:end], dtype=numpy.float64, count=length))\\n _x = self\\n start = end\\n end += 8\\n (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs,\\n _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs\\n ) = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.joint_names\\n ) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = [\\n ]\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n (self.planning_scene.robot_state.multi_dof_joint_state.\\n child_frame_ids) = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.Pose()\\n _v197 = val1.position\\n _x = _v197\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v198 = val1.orientation\\n _x = _v198\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.robot_state.multi_dof_joint_state.poses.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms = []\\n for i in range(0, length):\\n val1 = geometry_msgs.msg.TransformStamped()\\n _v199 = val1.header\\n start = end\\n end += 4\\n _v199.seq, = _struct_I.unpack(str[start:end])\\n _v200 = _v199.stamp\\n _x = _v200\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v199.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v199.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.child_frame_id = str[start:end].decode('utf-8')\\n else:\\n val1.child_frame_id = str[start:end]\\n _v201 = val1.transform\\n _v202 = _v201.translation\\n _x = _v202\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v203 = _v201.rotation\\n _x = _v203\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n self.planning_scene.fixed_frame_transforms.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1 = str[start:end].decode('utf-8')\\n else:\\n val1 = str[start:end]\\n self.planning_scene.allowed_collision_matrix.link_names.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_collision_matrix.entries = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sB' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy\\n .bool, count=length)\\n val1.enabled = map(bool, val1.enabled)\\n self.planning_scene.allowed_collision_matrix.entries.append(\\n val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.allowed_contacts = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AllowedContactSpecification()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.name = str[start:end].decode('utf-8')\\n else:\\n val1.name = str[start:end]\\n _v204 = val1.shape\\n start = end\\n end += 1\\n _v204.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.dimensions = numpy.frombuffer(str[start:end], dtype=\\n numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n _v204.triangles = numpy.frombuffer(str[start:end], dtype=\\n numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v204.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v204.vertices.append(val3)\\n _v205 = val1.pose_stamped\\n _v206 = _v205.header\\n start = end\\n end += 4\\n _v206.seq, = _struct_I.unpack(str[start:end])\\n _v207 = _v206.stamp\\n _x = _v207\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v206.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v206.frame_id = str[start:end]\\n _v208 = _v205.pose\\n _v209 = _v208.position\\n _x = _v209\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v210 = _v208.orientation\\n _x = _v210\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.link_names = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.link_names.append(val2)\\n start = end\\n end += 8\\n val1.penetration_depth, = _struct_d.unpack(str[start:end])\\n self.planning_scene.allowed_contacts.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.link_padding = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.LinkPadding()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n start = end\\n end += 8\\n val1.padding, = _struct_d.unpack(str[start:end])\\n self.planning_scene.link_padding.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.CollisionObject()\\n _v211 = val1.header\\n start = end\\n end += 4\\n _v211.seq, = _struct_I.unpack(str[start:end])\\n _v212 = _v211.stamp\\n _x = _v212\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v211.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v211.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.id = str[start:end].decode('utf-8')\\n else:\\n val1.id = str[start:end]\\n start = end\\n end += 4\\n val1.padding, = _struct_f.unpack(str[start:end])\\n _v213 = val1.operation\\n start = end\\n end += 1\\n _v213.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.shapes = []\\n for i in range(0, length):\\n val2 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val2.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val2.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val2.vertices = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Point()\\n _x = val3\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val2.vertices.append(val3)\\n val1.shapes.append(val2)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.poses = []\\n for i in range(0, length):\\n val2 = geometry_msgs.msg.Pose()\\n _v214 = val2.position\\n _x = _v214\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v215 = val2.orientation\\n _x = _v215\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n val1.poses.append(val2)\\n self.planning_scene.collision_objects.append(val1)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.attached_collision_objects = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.AttachedCollisionObject()\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val1.link_name = str[start:end].decode('utf-8')\\n else:\\n val1.link_name = str[start:end]\\n _v216 = val1.object\\n _v217 = _v216.header\\n start = end\\n end += 4\\n _v217.seq, = _struct_I.unpack(str[start:end])\\n _v218 = _v217.stamp\\n _x = _v218\\n start = end\\n end += 8\\n _x.secs, _x.nsecs = _struct_2I.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v217.frame_id = str[start:end].decode('utf-8')\\n else:\\n _v217.frame_id = str[start:end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n _v216.id = str[start:end].decode('utf-8')\\n else:\\n _v216.id = str[start:end]\\n start = end\\n end += 4\\n _v216.padding, = _struct_f.unpack(str[start:end])\\n _v219 = _v216.operation\\n start = end\\n end += 1\\n _v219.operation, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.shapes = []\\n for i in range(0, length):\\n val3 = arm_navigation_msgs.msg.Shape()\\n start = end\\n end += 1\\n val3.type, = _struct_b.unpack(str[start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%sd' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.dimensions = numpy.frombuffer(str[start:end],\\n dtype=numpy.float64, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n pattern = '<%si' % length\\n start = end\\n end += struct.calcsize(pattern)\\n val3.triangles = numpy.frombuffer(str[start:end], dtype\\n =numpy.int32, count=length)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val3.vertices = []\\n for i in range(0, length):\\n val4 = geometry_msgs.msg.Point()\\n _x = val4\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n val3.vertices.append(val4)\\n _v216.shapes.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n _v216.poses = []\\n for i in range(0, length):\\n val3 = geometry_msgs.msg.Pose()\\n _v220 = val3.position\\n _x = _v220\\n start = end\\n end += 24\\n _x.x, _x.y, _x.z = _struct_3d.unpack(str[start:end])\\n _v221 = val3.orientation\\n _x = _v221\\n start = end\\n end += 32\\n _x.x, _x.y, _x.z, _x.w = _struct_4d.unpack(str[start:end])\\n _v216.poses.append(val3)\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n val1.touch_links = []\\n for i in range(0, length):\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n val2 = str[start:end].decode('utf-8')\\n else:\\n val2 = str[start:end]\\n val1.touch_links.append(val2)\\n self.planning_scene.attached_collision_objects.append(val1)\\n _x = self\\n start = end\\n end += 12\\n (_x.planning_scene.collision_map.header.seq, _x.planning_scene.\\n collision_map.header.stamp.secs, _x.planning_scene.\\n collision_map.header.stamp.nsecs) = _struct_3I.unpack(str[\\n start:end])\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n start = end\\n end += length\\n if python3:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end].decode('utf-8')\\n else:\\n self.planning_scene.collision_map.header.frame_id = str[start\\n :end]\\n start = end\\n end += 4\\n length, = _struct_I.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes = []\\n for i in range(0, length):\\n val1 = arm_navigation_msgs.msg.OrientedBoundingBox()\\n _v222 = val1.center\\n _x = _v222\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v223 = val1.extents\\n _x = _v223\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n _v224 = val1.axis\\n _x = _v224\\n start = end\\n end += 12\\n _x.x, _x.y, _x.z = _struct_3f.unpack(str[start:end])\\n start = end\\n end += 4\\n val1.angle, = _struct_f.unpack(str[start:end])\\n self.planning_scene.collision_map.boxes.append(val1)\\n return self\\n except struct.error as e:\\n raise genpy.DeserializationError(e)\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n\\n def serialize(self, buff):\\n \\\"\\\"\\\"\\n serialize message into buffer\\n :param buff: buffer, ``StringIO``\\n \\\"\\\"\\\"\\n try:\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.robot_state.\\n joint_state.header.seq, _x.planning_scene.robot_state.\\n joint_state.header.stamp.secs, _x.planning_scene.\\n robot_state.joint_state.header.stamp.nsecs))\\n _x = self.planning_scene.robot_state.joint_state.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.robot_state.joint_state.name)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.joint_state.name:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.joint_state.position)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.position))\\n length = len(self.planning_scene.robot_state.joint_state.velocity)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.velocity))\\n length = len(self.planning_scene.robot_state.joint_state.effort)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *self.planning_scene.\\n robot_state.joint_state.effort))\\n _x = self\\n buff.write(_struct_2I.pack(_x.planning_scene.robot_state.\\n multi_dof_joint_state.stamp.secs, _x.planning_scene.\\n robot_state.multi_dof_joint_state.stamp.nsecs))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.joint_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.child_frame_ids)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.robot_state.\\n multi_dof_joint_state.poses)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:\\n _v113 = val1.position\\n _x = _v113\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v114 = val1.orientation\\n _x = _v114\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.fixed_frame_transforms)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.fixed_frame_transforms:\\n _v115 = val1.header\\n buff.write(_struct_I.pack(_v115.seq))\\n _v116 = _v115.stamp\\n _x = _v116\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v115.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.child_frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v117 = val1.transform\\n _v118 = _v117.translation\\n _x = _v118\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v119 = _v117.rotation\\n _x = _v119\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.allowed_collision_matrix.\\n link_names)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.link_names:\\n length = len(val1)\\n if python3 or type(val1) == unicode:\\n val1 = val1.encode('utf-8')\\n length = len(val1)\\n buff.write(struct.pack('<I%ss' % length, length, val1))\\n length = len(self.planning_scene.allowed_collision_matrix.entries)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_collision_matrix.entries:\\n length = len(val1.enabled)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sB' % length\\n buff.write(struct.pack(pattern, *val1.enabled))\\n length = len(self.planning_scene.allowed_contacts)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.allowed_contacts:\\n _x = val1.name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v120 = val1.shape\\n buff.write(_struct_b.pack(_v120.type))\\n length = len(_v120.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *_v120.dimensions))\\n length = len(_v120.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *_v120.triangles))\\n length = len(_v120.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v120.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v121 = val1.pose_stamped\\n _v122 = _v121.header\\n buff.write(_struct_I.pack(_v122.seq))\\n _v123 = _v122.stamp\\n _x = _v123\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v122.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v124 = _v121.pose\\n _v125 = _v124.position\\n _x = _v125\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v126 = _v124.orientation\\n _x = _v126\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.link_names)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.link_names:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n buff.write(_struct_d.pack(val1.penetration_depth))\\n length = len(self.planning_scene.link_padding)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.link_padding:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_d.pack(val1.padding))\\n length = len(self.planning_scene.collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_objects:\\n _v127 = val1.header\\n buff.write(_struct_I.pack(_v127.seq))\\n _v128 = _v127.stamp\\n _x = _v128\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v127.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = val1.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(val1.padding))\\n _v129 = val1.operation\\n buff.write(_struct_b.pack(_v129.operation))\\n length = len(val1.shapes)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.shapes:\\n buff.write(_struct_b.pack(val2.type))\\n length = len(val2.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val2.dimensions))\\n length = len(val2.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val2.triangles))\\n length = len(val2.vertices)\\n buff.write(_struct_I.pack(length))\\n for val3 in val2.vertices:\\n _x = val3\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(val1.poses)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.poses:\\n _v130 = val2.position\\n _x = _v130\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v131 = val2.orientation\\n _x = _v131\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(self.planning_scene.attached_collision_objects)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.attached_collision_objects:\\n _x = val1.link_name\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _v132 = val1.object\\n _v133 = _v132.header\\n buff.write(_struct_I.pack(_v133.seq))\\n _v134 = _v133.stamp\\n _x = _v134\\n buff.write(_struct_2I.pack(_x.secs, _x.nsecs))\\n _x = _v133.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n _x = _v132.id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n buff.write(_struct_f.pack(_v132.padding))\\n _v135 = _v132.operation\\n buff.write(_struct_b.pack(_v135.operation))\\n length = len(_v132.shapes)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.shapes:\\n buff.write(_struct_b.pack(val3.type))\\n length = len(val3.dimensions)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%sd' % length\\n buff.write(struct.pack(pattern, *val3.dimensions))\\n length = len(val3.triangles)\\n buff.write(_struct_I.pack(length))\\n pattern = '<%si' % length\\n buff.write(struct.pack(pattern, *val3.triangles))\\n length = len(val3.vertices)\\n buff.write(_struct_I.pack(length))\\n for val4 in val3.vertices:\\n _x = val4\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n length = len(_v132.poses)\\n buff.write(_struct_I.pack(length))\\n for val3 in _v132.poses:\\n _v136 = val3.position\\n _x = _v136\\n buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))\\n _v137 = val3.orientation\\n _x = _v137\\n buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))\\n length = len(val1.touch_links)\\n buff.write(_struct_I.pack(length))\\n for val2 in val1.touch_links:\\n length = len(val2)\\n if python3 or type(val2) == unicode:\\n val2 = val2.encode('utf-8')\\n length = len(val2)\\n buff.write(struct.pack('<I%ss' % length, length, val2))\\n _x = self\\n buff.write(_struct_3I.pack(_x.planning_scene.collision_map.\\n header.seq, _x.planning_scene.collision_map.header.stamp.\\n secs, _x.planning_scene.collision_map.header.stamp.nsecs))\\n _x = self.planning_scene.collision_map.header.frame_id\\n length = len(_x)\\n if python3 or type(_x) == unicode:\\n _x = _x.encode('utf-8')\\n length = len(_x)\\n buff.write(struct.pack('<I%ss' % length, length, _x))\\n length = len(self.planning_scene.collision_map.boxes)\\n buff.write(_struct_I.pack(length))\\n for val1 in self.planning_scene.collision_map.boxes:\\n _v138 = val1.center\\n _x = _v138\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v139 = val1.extents\\n _x = _v139\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n _v140 = val1.axis\\n _x = _v140\\n buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))\\n buff.write(_struct_f.pack(val1.angle))\\n except struct.error as se:\\n self._check_types(se)\\n except TypeError as te:\\n self._check_types(te)\\n <function token>\\n <function token>\\n <function token>\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n\\n\\nclass GetPlanningSceneResponse(genpy.Message):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n _type = 'arm_navigation_msgs/GetPlanningScene'\\n _md5sum = '0a7b07718e4e5c5d35740c730509a151'\\n _request_class = GetPlanningSceneRequest\\n _response_class = GetPlanningSceneResponse\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n\\n\\nclass GetPlanningScene(object):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<docstring token>\\n<import token>\\n<assignment token>\\n<import token>\\n<class token>\\n<assignment token>\\n<class token>\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":false,"string":"false"}}},{"rowIdx":5195,"cells":{"index":{"kind":"number","value":5195,"string":"5,195"},"blob_id":{"kind":"string","value":"37feeba8ff682e5998fde4bcba8c37043cb593f2"},"code":{"kind":"string","value":"# coding=utf-8\nfrom smallinvoice.commons import BaseJsonEncodableObject, BaseService\n\n\nclass Catalog(BaseJsonEncodableObject):\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\n self.type = catalog_type\n self.unit = unit\n self.name = name\n self.cost_per_unit = cost_per_unit\n self.vat = vat\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n\n"},"steps":{"kind":"list like","value":["# coding=utf-8\nfrom smallinvoice.commons import BaseJsonEncodableObject, BaseService\n\n\nclass Catalog(BaseJsonEncodableObject):\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\n self.type = catalog_type\n self.unit = unit\n self.name = name\n self.cost_per_unit = cost_per_unit\n self.vat = vat\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n\n","from smallinvoice.commons import BaseJsonEncodableObject, BaseService\n\n\nclass Catalog(BaseJsonEncodableObject):\n\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\n self.type = catalog_type\n self.unit = unit\n self.name = name\n self.cost_per_unit = cost_per_unit\n self.vat = vat\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n","<import token>\n\n\nclass Catalog(BaseJsonEncodableObject):\n\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\n self.type = catalog_type\n self.unit = unit\n self.name = name\n self.cost_per_unit = cost_per_unit\n self.vat = vat\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n","<import token>\n\n\nclass Catalog(BaseJsonEncodableObject):\n <function token>\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n","<import token>\n<class token>\n\n\nclass CatalogService(BaseService):\n name = 'catalog'\n","<import token>\n<class token>\n\n\nclass CatalogService(BaseService):\n <assignment token>\n","<import token>\n<class token>\n<class token>\n"],"string":"[\n \"# coding=utf-8\\nfrom smallinvoice.commons import BaseJsonEncodableObject, BaseService\\n\\n\\nclass Catalog(BaseJsonEncodableObject):\\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\\n self.type = catalog_type\\n self.unit = unit\\n self.name = name\\n self.cost_per_unit = cost_per_unit\\n self.vat = vat\\n\\n\\nclass CatalogService(BaseService):\\n name = 'catalog'\\n\\n\",\n \"from smallinvoice.commons import BaseJsonEncodableObject, BaseService\\n\\n\\nclass Catalog(BaseJsonEncodableObject):\\n\\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\\n self.type = catalog_type\\n self.unit = unit\\n self.name = name\\n self.cost_per_unit = cost_per_unit\\n self.vat = vat\\n\\n\\nclass CatalogService(BaseService):\\n name = 'catalog'\\n\",\n \"<import token>\\n\\n\\nclass Catalog(BaseJsonEncodableObject):\\n\\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\\n self.type = catalog_type\\n self.unit = unit\\n self.name = name\\n self.cost_per_unit = cost_per_unit\\n self.vat = vat\\n\\n\\nclass CatalogService(BaseService):\\n name = 'catalog'\\n\",\n \"<import token>\\n\\n\\nclass Catalog(BaseJsonEncodableObject):\\n <function token>\\n\\n\\nclass CatalogService(BaseService):\\n name = 'catalog'\\n\",\n \"<import token>\\n<class token>\\n\\n\\nclass CatalogService(BaseService):\\n name = 'catalog'\\n\",\n \"<import token>\\n<class token>\\n\\n\\nclass CatalogService(BaseService):\\n <assignment token>\\n\",\n \"<import token>\\n<class token>\\n<class token>\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":false,"string":"false"}}},{"rowIdx":5196,"cells":{"index":{"kind":"number","value":5196,"string":"5,196"},"blob_id":{"kind":"string","value":"d65d85b4573728ed32ccf987459d5a228e2a8897"},"code":{"kind":"string","value":"# Generated by Django 3.1.7 on 2021-04-16 14:03\n\nfrom django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n\n initial = True\n\n dependencies = [\n ]\n\n operations = [\n migrations.CreateModel(\n name='AuditLog',\n fields=[\n ('id', models.AutoField(auto_created=True, primary_key=True, serialize=False, verbose_name='ID')),\n ('action_time', models.DateTimeField(auto_now=True, verbose_name='操作时间')),\n ('user', models.CharField(max_length=64, verbose_name='操作者')),\n ('obj', models.TextField(blank=True, null=True, verbose_name='操作对象')),\n ('operate_type', models.CharField(max_length=32, verbose_name='操作类型')),\n ('change_message', models.TextField(blank=True, verbose_name='操作信息')),\n ],\n options={\n 'verbose_name': '操作日志',\n 'ordering': ['-id'],\n },\n ),\n ]\n"},"steps":{"kind":"list like","value":["# Generated by Django 3.1.7 on 2021-04-16 14:03\n\nfrom django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n\n initial = True\n\n dependencies = [\n ]\n\n operations = [\n migrations.CreateModel(\n name='AuditLog',\n fields=[\n ('id', models.AutoField(auto_created=True, primary_key=True, serialize=False, verbose_name='ID')),\n ('action_time', models.DateTimeField(auto_now=True, verbose_name='操作时间')),\n ('user', models.CharField(max_length=64, verbose_name='操作者')),\n ('obj', models.TextField(blank=True, null=True, verbose_name='操作对象')),\n ('operate_type', models.CharField(max_length=32, verbose_name='操作类型')),\n ('change_message', models.TextField(blank=True, verbose_name='操作信息')),\n ],\n options={\n 'verbose_name': '操作日志',\n 'ordering': ['-id'],\n },\n ),\n ]\n","from django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n initial = True\n dependencies = []\n operations = [migrations.CreateModel(name='AuditLog', fields=[('id',\n models.AutoField(auto_created=True, primary_key=True, serialize=\n False, verbose_name='ID')), ('action_time', models.DateTimeField(\n auto_now=True, verbose_name='操作时间')), ('user', models.CharField(\n max_length=64, verbose_name='操作者')), ('obj', models.TextField(blank\n =True, null=True, verbose_name='操作对象')), ('operate_type', models.\n CharField(max_length=32, verbose_name='操作类型')), ('change_message',\n models.TextField(blank=True, verbose_name='操作信息'))], options={\n 'verbose_name': '操作日志', 'ordering': ['-id']})]\n","<import token>\n\n\nclass Migration(migrations.Migration):\n initial = True\n dependencies = []\n operations = [migrations.CreateModel(name='AuditLog', fields=[('id',\n models.AutoField(auto_created=True, primary_key=True, serialize=\n False, verbose_name='ID')), ('action_time', models.DateTimeField(\n auto_now=True, verbose_name='操作时间')), ('user', models.CharField(\n max_length=64, verbose_name='操作者')), ('obj', models.TextField(blank\n =True, null=True, verbose_name='操作对象')), ('operate_type', models.\n CharField(max_length=32, verbose_name='操作类型')), ('change_message',\n models.TextField(blank=True, verbose_name='操作信息'))], options={\n 'verbose_name': '操作日志', 'ordering': ['-id']})]\n","<import token>\n\n\nclass Migration(migrations.Migration):\n <assignment token>\n <assignment token>\n <assignment token>\n","<import token>\n<class token>\n"],"string":"[\n \"# Generated by Django 3.1.7 on 2021-04-16 14:03\\n\\nfrom django.db import migrations, models\\n\\n\\nclass Migration(migrations.Migration):\\n\\n initial = True\\n\\n dependencies = [\\n ]\\n\\n operations = [\\n migrations.CreateModel(\\n name='AuditLog',\\n fields=[\\n ('id', models.AutoField(auto_created=True, primary_key=True, serialize=False, verbose_name='ID')),\\n ('action_time', models.DateTimeField(auto_now=True, verbose_name='操作时间')),\\n ('user', models.CharField(max_length=64, verbose_name='操作者')),\\n ('obj', models.TextField(blank=True, null=True, verbose_name='操作对象')),\\n ('operate_type', models.CharField(max_length=32, verbose_name='操作类型')),\\n ('change_message', models.TextField(blank=True, verbose_name='操作信息')),\\n ],\\n options={\\n 'verbose_name': '操作日志',\\n 'ordering': ['-id'],\\n },\\n ),\\n ]\\n\",\n \"from django.db import migrations, models\\n\\n\\nclass Migration(migrations.Migration):\\n initial = True\\n dependencies = []\\n operations = [migrations.CreateModel(name='AuditLog', fields=[('id',\\n models.AutoField(auto_created=True, primary_key=True, serialize=\\n False, verbose_name='ID')), ('action_time', models.DateTimeField(\\n auto_now=True, verbose_name='操作时间')), ('user', models.CharField(\\n max_length=64, verbose_name='操作者')), ('obj', models.TextField(blank\\n =True, null=True, verbose_name='操作对象')), ('operate_type', models.\\n CharField(max_length=32, verbose_name='操作类型')), ('change_message',\\n models.TextField(blank=True, verbose_name='操作信息'))], options={\\n 'verbose_name': '操作日志', 'ordering': ['-id']})]\\n\",\n \"<import token>\\n\\n\\nclass Migration(migrations.Migration):\\n initial = True\\n dependencies = []\\n operations = [migrations.CreateModel(name='AuditLog', fields=[('id',\\n models.AutoField(auto_created=True, primary_key=True, serialize=\\n False, verbose_name='ID')), ('action_time', models.DateTimeField(\\n auto_now=True, verbose_name='操作时间')), ('user', models.CharField(\\n max_length=64, verbose_name='操作者')), ('obj', models.TextField(blank\\n =True, null=True, verbose_name='操作对象')), ('operate_type', models.\\n CharField(max_length=32, verbose_name='操作类型')), ('change_message',\\n models.TextField(blank=True, verbose_name='操作信息'))], options={\\n 'verbose_name': '操作日志', 'ordering': ['-id']})]\\n\",\n \"<import token>\\n\\n\\nclass Migration(migrations.Migration):\\n <assignment token>\\n <assignment token>\\n <assignment token>\\n\",\n \"<import token>\\n<class token>\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":false,"string":"false"}}},{"rowIdx":5197,"cells":{"index":{"kind":"number","value":5197,"string":"5,197"},"blob_id":{"kind":"string","value":"90f5629ac48edfccea57243ffb6188a98123367d"},"code":{"kind":"string","value":"from nltk.corpus import stopwords\r\nfrom nltk.tokenize import word_tokenize\r\n\r\n#Print Stop words\r\nstop_words = set(stopwords.words(\"english\"))\r\nprint(stop_words)\r\n\r\nexample_text = \"This is general sentence to just clarify if stop words are working or not. I have some awesome projects coming up\"\r\n\r\nwords = word_tokenize(example_text)\r\n\r\nfiltered_sentence = []\r\nfor w in words:\r\n for w not in stop_words:\r\n filtered_sentence.append(w)\r\n\r\n#print filtered sentences\r\nprint(filtered_sentence)\r\n\r\n#print in a line\r\nfiltered_sentence1 = [w for w in words if not w in stop_words]\r\n\r\n#print filtered sentences\r\nprint(filtered_sentence1)\r\n"},"steps":{"kind":"list like","value":["from nltk.corpus import stopwords\r\nfrom nltk.tokenize import word_tokenize\r\n\r\n#Print Stop words\r\nstop_words = set(stopwords.words(\"english\"))\r\nprint(stop_words)\r\n\r\nexample_text = \"This is general sentence to just clarify if stop words are working or not. I have some awesome projects coming up\"\r\n\r\nwords = word_tokenize(example_text)\r\n\r\nfiltered_sentence = []\r\nfor w in words:\r\n for w not in stop_words:\r\n filtered_sentence.append(w)\r\n\r\n#print filtered sentences\r\nprint(filtered_sentence)\r\n\r\n#print in a line\r\nfiltered_sentence1 = [w for w in words if not w in stop_words]\r\n\r\n#print filtered sentences\r\nprint(filtered_sentence1)\r\n"],"string":"[\n \"from nltk.corpus import stopwords\\r\\nfrom nltk.tokenize import word_tokenize\\r\\n\\r\\n#Print Stop words\\r\\nstop_words = set(stopwords.words(\\\"english\\\"))\\r\\nprint(stop_words)\\r\\n\\r\\nexample_text = \\\"This is general sentence to just clarify if stop words are working or not. I have some awesome projects coming up\\\"\\r\\n\\r\\nwords = word_tokenize(example_text)\\r\\n\\r\\nfiltered_sentence = []\\r\\nfor w in words:\\r\\n for w not in stop_words:\\r\\n filtered_sentence.append(w)\\r\\n\\r\\n#print filtered sentences\\r\\nprint(filtered_sentence)\\r\\n\\r\\n#print in a line\\r\\nfiltered_sentence1 = [w for w in words if not w in stop_words]\\r\\n\\r\\n#print filtered sentences\\r\\nprint(filtered_sentence1)\\r\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":5198,"cells":{"index":{"kind":"number","value":5198,"string":"5,198"},"blob_id":{"kind":"string","value":"16074fc1824a99b6fd1c4bf113d5b752308e8803"},"code":{"kind":"string","value":"from sqlalchemy.orm import sessionmaker\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\n\n\nclass ScrapySpiderPipeline(object):\n \n # Bu Fonksiyon Veritabanı bağlantısını ve oturum oluşturucuyu başlatır ve bir İlişkisel Veritabanı tablosu oluşturur.\n def __init__(self):\n \n engine = db_connect()\n create_table(engine)\n \n self.Session = sessionmaker(bind=engine)\n\n # Bu Fonksiyon Spiderdan Gelen Dataları Models.py Dosyasındaki Model Şablonuna Göre İşleme Sokarak Verileri Database İçine Kaydeder\n def process_item(self, item, spider):\n\n session = self.Session()\n \n ım_db = IMDB_DATABASE()\n \n ım_db.MOVIE_CODE = item[\"MOVIE_CODE\"]\n \n ım_db.MOVIE_NAME = item[\"MOVIE_NAME\"]\n\n ım_db.YEAR = item[\"YEAR\"]\n\n ım_db.RANK = item[\"RANK\"]\n\n ım_db.IMDB_RATING = item[\"IMDB_RATING\"]\n\n\n\n # Buradaki Try Except istisna blokları datalar kaydedilirken varsa oluşan hataları ayıklayarak bizlere mesaj olarak döner\n try:\n session.add(ım_db)\n session.commit()\n \n except:\n session.rollback()\n raise\n \n finally:\n session.close()\n\n return item\n"},"steps":{"kind":"list like","value":["from sqlalchemy.orm import sessionmaker\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\n\n\nclass ScrapySpiderPipeline(object):\n \n # Bu Fonksiyon Veritabanı bağlantısını ve oturum oluşturucuyu başlatır ve bir İlişkisel Veritabanı tablosu oluşturur.\n def __init__(self):\n \n engine = db_connect()\n create_table(engine)\n \n self.Session = sessionmaker(bind=engine)\n\n # Bu Fonksiyon Spiderdan Gelen Dataları Models.py Dosyasındaki Model Şablonuna Göre İşleme Sokarak Verileri Database İçine Kaydeder\n def process_item(self, item, spider):\n\n session = self.Session()\n \n ım_db = IMDB_DATABASE()\n \n ım_db.MOVIE_CODE = item[\"MOVIE_CODE\"]\n \n ım_db.MOVIE_NAME = item[\"MOVIE_NAME\"]\n\n ım_db.YEAR = item[\"YEAR\"]\n\n ım_db.RANK = item[\"RANK\"]\n\n ım_db.IMDB_RATING = item[\"IMDB_RATING\"]\n\n\n\n # Buradaki Try Except istisna blokları datalar kaydedilirken varsa oluşan hataları ayıklayarak bizlere mesaj olarak döner\n try:\n session.add(ım_db)\n session.commit()\n \n except:\n session.rollback()\n raise\n \n finally:\n session.close()\n\n return item\n","from sqlalchemy.orm import sessionmaker\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\n\n\nclass ScrapySpiderPipeline(object):\n\n def __init__(self):\n engine = db_connect()\n create_table(engine)\n self.Session = sessionmaker(bind=engine)\n\n def process_item(self, item, spider):\n session = self.Session()\n ım_db = IMDB_DATABASE()\n ım_db.MOVIE_CODE = item['MOVIE_CODE']\n ım_db.MOVIE_NAME = item['MOVIE_NAME']\n ım_db.YEAR = item['YEAR']\n ım_db.RANK = item['RANK']\n ım_db.IMDB_RATING = item['IMDB_RATING']\n try:\n session.add(ım_db)\n session.commit()\n except:\n session.rollback()\n raise\n finally:\n session.close()\n return item\n","<import token>\n\n\nclass ScrapySpiderPipeline(object):\n\n def __init__(self):\n engine = db_connect()\n create_table(engine)\n self.Session = sessionmaker(bind=engine)\n\n def process_item(self, item, spider):\n session = self.Session()\n ım_db = IMDB_DATABASE()\n ım_db.MOVIE_CODE = item['MOVIE_CODE']\n ım_db.MOVIE_NAME = item['MOVIE_NAME']\n ım_db.YEAR = item['YEAR']\n ım_db.RANK = item['RANK']\n ım_db.IMDB_RATING = item['IMDB_RATING']\n try:\n session.add(ım_db)\n session.commit()\n except:\n session.rollback()\n raise\n finally:\n session.close()\n return item\n","<import token>\n\n\nclass ScrapySpiderPipeline(object):\n\n def __init__(self):\n engine = db_connect()\n create_table(engine)\n self.Session = sessionmaker(bind=engine)\n <function token>\n","<import token>\n\n\nclass ScrapySpiderPipeline(object):\n <function token>\n <function token>\n","<import token>\n<class token>\n"],"string":"[\n \"from sqlalchemy.orm import sessionmaker\\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\\n\\n\\nclass ScrapySpiderPipeline(object):\\n \\n # Bu Fonksiyon Veritabanı bağlantısını ve oturum oluşturucuyu başlatır ve bir İlişkisel Veritabanı tablosu oluşturur.\\n def __init__(self):\\n \\n engine = db_connect()\\n create_table(engine)\\n \\n self.Session = sessionmaker(bind=engine)\\n\\n # Bu Fonksiyon Spiderdan Gelen Dataları Models.py Dosyasındaki Model Şablonuna Göre İşleme Sokarak Verileri Database İçine Kaydeder\\n def process_item(self, item, spider):\\n\\n session = self.Session()\\n \\n ım_db = IMDB_DATABASE()\\n \\n ım_db.MOVIE_CODE = item[\\\"MOVIE_CODE\\\"]\\n \\n ım_db.MOVIE_NAME = item[\\\"MOVIE_NAME\\\"]\\n\\n ım_db.YEAR = item[\\\"YEAR\\\"]\\n\\n ım_db.RANK = item[\\\"RANK\\\"]\\n\\n ım_db.IMDB_RATING = item[\\\"IMDB_RATING\\\"]\\n\\n\\n\\n # Buradaki Try Except istisna blokları datalar kaydedilirken varsa oluşan hataları ayıklayarak bizlere mesaj olarak döner\\n try:\\n session.add(ım_db)\\n session.commit()\\n \\n except:\\n session.rollback()\\n raise\\n \\n finally:\\n session.close()\\n\\n return item\\n\",\n \"from sqlalchemy.orm import sessionmaker\\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\\n\\n\\nclass ScrapySpiderPipeline(object):\\n\\n def __init__(self):\\n engine = db_connect()\\n create_table(engine)\\n self.Session = sessionmaker(bind=engine)\\n\\n def process_item(self, item, spider):\\n session = self.Session()\\n ım_db = IMDB_DATABASE()\\n ım_db.MOVIE_CODE = item['MOVIE_CODE']\\n ım_db.MOVIE_NAME = item['MOVIE_NAME']\\n ım_db.YEAR = item['YEAR']\\n ım_db.RANK = item['RANK']\\n ım_db.IMDB_RATING = item['IMDB_RATING']\\n try:\\n session.add(ım_db)\\n session.commit()\\n except:\\n session.rollback()\\n raise\\n finally:\\n session.close()\\n return item\\n\",\n \"<import token>\\n\\n\\nclass ScrapySpiderPipeline(object):\\n\\n def __init__(self):\\n engine = db_connect()\\n create_table(engine)\\n self.Session = sessionmaker(bind=engine)\\n\\n def process_item(self, item, spider):\\n session = self.Session()\\n ım_db = IMDB_DATABASE()\\n ım_db.MOVIE_CODE = item['MOVIE_CODE']\\n ım_db.MOVIE_NAME = item['MOVIE_NAME']\\n ım_db.YEAR = item['YEAR']\\n ım_db.RANK = item['RANK']\\n ım_db.IMDB_RATING = item['IMDB_RATING']\\n try:\\n session.add(ım_db)\\n session.commit()\\n except:\\n session.rollback()\\n raise\\n finally:\\n session.close()\\n return item\\n\",\n \"<import token>\\n\\n\\nclass ScrapySpiderPipeline(object):\\n\\n def __init__(self):\\n engine = db_connect()\\n create_table(engine)\\n self.Session = sessionmaker(bind=engine)\\n <function token>\\n\",\n \"<import token>\\n\\n\\nclass ScrapySpiderPipeline(object):\\n <function token>\\n <function token>\\n\",\n \"<import token>\\n<class token>\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":false,"string":"false"}}},{"rowIdx":5199,"cells":{"index":{"kind":"number","value":5199,"string":"5,199"},"blob_id":{"kind":"string","value":"421b0c1871350ff541b4e56d1e18d77016884552"},"code":{"kind":"string","value":"# -*- coding: utf-8 -*-\n\"\"\"Transcoder with TOSHIBA RECAIUS API.\"\"\"\nimport threading\nimport queue\nimport time\n\nimport numpy as np\nfrom logzero import logger\nimport requests\n\nimport model.key\n\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\n\n\nclass Transcoder:\n \"\"\"Transcoder Class.\"\"\"\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if(arr is None):\n break\n # logger.debug(f'{len(arr)} , {self._queue.qsize()}')\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {\n 'Content-Type': 'multipart/form-data',\n 'X-Token': token\n }\n files = {\n 'voice_id': ('', i, ''),\n 'voice': ('', arr_bytes, 'application/octet-stream')\n }\n resp = requests.put(\n f'{VOICE_URL}/{uuid}', headers=header, files=files)\n if(resp.status_code == 200):\n logger.debug(resp.json())\n result = resp.json()[0]\n if(result[0] == 'TMP_RESULT' or result[0] == 'RESULT'):\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if(self._get_result(uuid, token) is None):\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {\n \"speech_recog_jaJP\": {\n 'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password\n }\n }\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {\n 'Content-Type': 'application/json',\n 'X-Token': token\n }\n param = {\n 'voice_id': i,\n }\n resp = requests.put(\n f'{VOICE_URL}/{uuid}/flush', headers=header, json=param)\n if(resp.status_code == 200):\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {\n 'X-Token': token\n }\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if(resp.status_code == 200):\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n # print(v)\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if(len(arr) != 0):\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {\n 'Content-Type': 'application/json',\n 'X-Token': token\n }\n param = {\n 'model_id': 1\n }\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {\n 'X-Token': token\n }\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if(resp.status_code == 204):\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n"},"steps":{"kind":"list like","value":["# -*- coding: utf-8 -*-\n\"\"\"Transcoder with TOSHIBA RECAIUS API.\"\"\"\nimport threading\nimport queue\nimport time\n\nimport numpy as np\nfrom logzero import logger\nimport requests\n\nimport model.key\n\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\n\n\nclass Transcoder:\n \"\"\"Transcoder Class.\"\"\"\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if(arr is None):\n break\n # logger.debug(f'{len(arr)} , {self._queue.qsize()}')\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {\n 'Content-Type': 'multipart/form-data',\n 'X-Token': token\n }\n files = {\n 'voice_id': ('', i, ''),\n 'voice': ('', arr_bytes, 'application/octet-stream')\n }\n resp = requests.put(\n f'{VOICE_URL}/{uuid}', headers=header, files=files)\n if(resp.status_code == 200):\n logger.debug(resp.json())\n result = resp.json()[0]\n if(result[0] == 'TMP_RESULT' or result[0] == 'RESULT'):\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if(self._get_result(uuid, token) is None):\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {\n \"speech_recog_jaJP\": {\n 'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password\n }\n }\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {\n 'Content-Type': 'application/json',\n 'X-Token': token\n }\n param = {\n 'voice_id': i,\n }\n resp = requests.put(\n f'{VOICE_URL}/{uuid}/flush', headers=header, json=param)\n if(resp.status_code == 200):\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {\n 'X-Token': token\n }\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if(resp.status_code == 200):\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n # print(v)\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if(len(arr) != 0):\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {\n 'Content-Type': 'application/json',\n 'X-Token': token\n }\n param = {\n 'model_id': 1\n }\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {\n 'X-Token': token\n }\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if(resp.status_code == 204):\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\nimport threading\nimport queue\nimport time\nimport numpy as np\nfrom logzero import logger\nimport requests\nimport model.key\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\n\n\nclass Transcoder:\n \"\"\"Transcoder Class.\"\"\"\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\n\n\nclass Transcoder:\n \"\"\"Transcoder Class.\"\"\"\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n \"\"\"Transcoder Class.\"\"\"\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n\n def start(self, token):\n \"\"\"Start recognition.\"\"\"\n logger.info('start:Enter')\n self._token = token\n threading.Thread(target=self._process).start()\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n\n def __init__(self):\n \"\"\"Constructor.\"\"\"\n logger.info('__init__:Enter')\n self._token = None\n self.transcript = None\n self._queue = queue.Queue()\n <function token>\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n\n def _process(self):\n logger.info('_process:Enter')\n token = self._authenticate()['token']\n uuid = self._start_recognition(token)['uuid']\n logger.info('start transcode')\n i = 1\n while True:\n arr = self._stream_generator()\n if arr is None:\n break\n inline = np.hstack(arr)\n arr_bytes = inline.tobytes('C')\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\n 'application/octet-stream')}\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\n files=files)\n if resp.status_code == 200:\n logger.debug(resp.json())\n result = resp.json()[0]\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\n self._write_result(result[1])\n i = i + 1\n self._flush_recognition(uuid, token, i)\n while True:\n if self._get_result(uuid, token) is None:\n break\n time.sleep(0.1)\n self._end_recognition(uuid, token)\n logger.info('end transcode')\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n\n def _stream_generator(self):\n arr = []\n while True:\n try:\n v = self._queue.get_nowait()\n if v is None:\n return None\n arr.append((v * 32767).astype(np.int16))\n except queue.Empty:\n if len(arr) != 0:\n break\n else:\n time.sleep(0.1)\n return arr\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n\n def _flush_recognition(self, uuid, token, i):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'voice_id': i}\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\n json=param)\n if resp.status_code == 200:\n logger.debug(f'frush result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'flush result(status:{resp.status_code})')\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n <function token>\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n\n def write_stream(self, buf):\n \"\"\"Write audio stream.\"\"\"\n self._queue.put(buf)\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n <function token>\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n <function token>\n\n def _start_recognition(self, token):\n header = {'Content-Type': 'application/json', 'X-Token': token}\n param = {'model_id': 1}\n return requests.post(VOICE_URL, headers=header, json=param).json()\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n\n def _get_result(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\n if resp.status_code == 200:\n logger.debug(f'get result:{resp.json()}')\n return resp.json()\n else:\n logger.debug(f'get result(status:{resp.status_code})')\n <function token>\n <function token>\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _end_recognition(self, uuid, token):\n header = {'X-Token': token}\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\n if resp.status_code == 204:\n logger.debug(f'delete result(status:{resp.status_code})')\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _write_result(self, transcipt):\n self.transcript = transcipt\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n\n def _authenticate(self):\n speechrecog_jajp_id = model.key.RECAIUS_ID\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\n 'password': speechrecog_jajp_password}}\n return requests.post(AUTH_URL, json=param).json()\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n","<docstring token>\n<import token>\n<assignment token>\n\n\nclass Transcoder:\n <docstring token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n <function token>\n","<docstring token>\n<import token>\n<assignment token>\n<class token>\n"],"string":"[\n \"# -*- coding: utf-8 -*-\\n\\\"\\\"\\\"Transcoder with TOSHIBA RECAIUS API.\\\"\\\"\\\"\\nimport threading\\nimport queue\\nimport time\\n\\nimport numpy as np\\nfrom logzero import logger\\nimport requests\\n\\nimport model.key\\n\\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\\n\\n\\nclass Transcoder:\\n \\\"\\\"\\\"Transcoder Class.\\\"\\\"\\\"\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n\\n def start(self, token):\\n \\\"\\\"\\\"Start recognition.\\\"\\\"\\\"\\n logger.info('start:Enter')\\n self._token = token\\n threading.Thread(target=self._process).start()\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if(arr is None):\\n break\\n # logger.debug(f'{len(arr)} , {self._queue.qsize()}')\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {\\n 'Content-Type': 'multipart/form-data',\\n 'X-Token': token\\n }\\n files = {\\n 'voice_id': ('', i, ''),\\n 'voice': ('', arr_bytes, 'application/octet-stream')\\n }\\n resp = requests.put(\\n f'{VOICE_URL}/{uuid}', headers=header, files=files)\\n if(resp.status_code == 200):\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if(result[0] == 'TMP_RESULT' or result[0] == 'RESULT'):\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if(self._get_result(uuid, token) is None):\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {\\n \\\"speech_recog_jaJP\\\": {\\n 'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password\\n }\\n }\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {\\n 'Content-Type': 'application/json',\\n 'X-Token': token\\n }\\n param = {\\n 'voice_id': i,\\n }\\n resp = requests.put(\\n f'{VOICE_URL}/{uuid}/flush', headers=header, json=param)\\n if(resp.status_code == 200):\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {\\n 'X-Token': token\\n }\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if(resp.status_code == 200):\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n # print(v)\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if(len(arr) != 0):\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {\\n 'Content-Type': 'application/json',\\n 'X-Token': token\\n }\\n param = {\\n 'model_id': 1\\n }\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {\\n 'X-Token': token\\n }\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if(resp.status_code == 204):\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\nimport threading\\nimport queue\\nimport time\\nimport numpy as np\\nfrom logzero import logger\\nimport requests\\nimport model.key\\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\\n\\n\\nclass Transcoder:\\n \\\"\\\"\\\"Transcoder Class.\\\"\\\"\\\"\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n\\n def start(self, token):\\n \\\"\\\"\\\"Start recognition.\\\"\\\"\\\"\\n logger.info('start:Enter')\\n self._token = token\\n threading.Thread(target=self._process).start()\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\\n\\n\\nclass Transcoder:\\n \\\"\\\"\\\"Transcoder Class.\\\"\\\"\\\"\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n\\n def start(self, token):\\n \\\"\\\"\\\"Start recognition.\\\"\\\"\\\"\\n logger.info('start:Enter')\\n self._token = token\\n threading.Thread(target=self._process).start()\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n \\\"\\\"\\\"Transcoder Class.\\\"\\\"\\\"\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n\\n def start(self, token):\\n \\\"\\\"\\\"Start recognition.\\\"\\\"\\\"\\n logger.info('start:Enter')\\n self._token = token\\n threading.Thread(target=self._process).start()\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n\\n def start(self, token):\\n \\\"\\\"\\\"Start recognition.\\\"\\\"\\\"\\n logger.info('start:Enter')\\n self._token = token\\n threading.Thread(target=self._process).start()\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n\\n def __init__(self):\\n \\\"\\\"\\\"Constructor.\\\"\\\"\\\"\\n logger.info('__init__:Enter')\\n self._token = None\\n self.transcript = None\\n self._queue = queue.Queue()\\n <function token>\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n\\n def _process(self):\\n logger.info('_process:Enter')\\n token = self._authenticate()['token']\\n uuid = self._start_recognition(token)['uuid']\\n logger.info('start transcode')\\n i = 1\\n while True:\\n arr = self._stream_generator()\\n if arr is None:\\n break\\n inline = np.hstack(arr)\\n arr_bytes = inline.tobytes('C')\\n header = {'Content-Type': 'multipart/form-data', 'X-Token': token}\\n files = {'voice_id': ('', i, ''), 'voice': ('', arr_bytes,\\n 'application/octet-stream')}\\n resp = requests.put(f'{VOICE_URL}/{uuid}', headers=header,\\n files=files)\\n if resp.status_code == 200:\\n logger.debug(resp.json())\\n result = resp.json()[0]\\n if result[0] == 'TMP_RESULT' or result[0] == 'RESULT':\\n self._write_result(result[1])\\n i = i + 1\\n self._flush_recognition(uuid, token, i)\\n while True:\\n if self._get_result(uuid, token) is None:\\n break\\n time.sleep(0.1)\\n self._end_recognition(uuid, token)\\n logger.info('end transcode')\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n\\n def _stream_generator(self):\\n arr = []\\n while True:\\n try:\\n v = self._queue.get_nowait()\\n if v is None:\\n return None\\n arr.append((v * 32767).astype(np.int16))\\n except queue.Empty:\\n if len(arr) != 0:\\n break\\n else:\\n time.sleep(0.1)\\n return arr\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n\\n def _flush_recognition(self, uuid, token, i):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'voice_id': i}\\n resp = requests.put(f'{VOICE_URL}/{uuid}/flush', headers=header,\\n json=param)\\n if resp.status_code == 200:\\n logger.debug(f'frush result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'flush result(status:{resp.status_code})')\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n <function token>\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n\\n def write_stream(self, buf):\\n \\\"\\\"\\\"Write audio stream.\\\"\\\"\\\"\\n self._queue.put(buf)\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n <function token>\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n <function token>\\n\\n def _start_recognition(self, token):\\n header = {'Content-Type': 'application/json', 'X-Token': token}\\n param = {'model_id': 1}\\n return requests.post(VOICE_URL, headers=header, json=param).json()\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n\\n def _get_result(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.get(f'{VOICE_URL}/{uuid}/results', headers=header)\\n if resp.status_code == 200:\\n logger.debug(f'get result:{resp.json()}')\\n return resp.json()\\n else:\\n logger.debug(f'get result(status:{resp.status_code})')\\n <function token>\\n <function token>\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _end_recognition(self, uuid, token):\\n header = {'X-Token': token}\\n resp = requests.delete(f'{VOICE_URL}/{uuid}', headers=header)\\n if resp.status_code == 204:\\n logger.debug(f'delete result(status:{resp.status_code})')\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _write_result(self, transcipt):\\n self.transcript = transcipt\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\\n def _authenticate(self):\\n speechrecog_jajp_id = model.key.RECAIUS_ID\\n speechrecog_jajp_password = model.key.RECAIUS_PASSWORD\\n param = {'speech_recog_jaJP': {'service_id': speechrecog_jajp_id,\\n 'password': speechrecog_jajp_password}}\\n return requests.post(AUTH_URL, json=param).json()\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n\\n\\nclass Transcoder:\\n <docstring token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n <function token>\\n\",\n \"<docstring token>\\n<import token>\\n<assignment token>\\n<class token>\\n\"\n]","isConversational":false},"error":{"kind":"bool","value":false,"string":"false"}}}],"truncated":false,"partial":false},"paginationData":{"pageIndex":51,"numItemsPerPage":100,"numTotalItems":100000,"offset":5100,"length":100}},"jwt":"eyJhbGciOiJFZERTQSJ9.eyJyZWFkIjp0cnVlLCJwZXJtaXNzaW9ucyI6eyJyZXBvLmNvbnRlbnQucmVhZCI6dHJ1ZX0sImlhdCI6MTc3NTcwMzEwOCwic3ViIjoiL2RhdGFzZXRzL0NvaGVuUXUvdGhlLXN0YWNrLXYyLWRlZHVwLVB5dGhvbiIsImV4cCI6MTc3NTcwNjcwOCwiaXNzIjoiaHR0cHM6Ly9odWdnaW5nZmFjZS5jbyJ9.OGOLFSRmtV3BDgAgEz5hsucGqPElN26XNjjSXTjIJ0gleAsSreaQ6t2Y5cZ9Sh-ZgGB4D0pdXhlf6lPvVdVdBA","displayUrls":true,"splitSizeSummaries":[{"config":"0_100000","split":"train","numRows":100000,"numBytesParquet":1075633227},{"config":"100000_200000","split":"train","numRows":100000,"numBytesParquet":773849529},{"config":"1900000_2000000","split":"train","numRows":100000,"numBytesParquet":905561117},{"config":"2100000_2200000","split":"train","numRows":99999,"numBytesParquet":818411254},{"config":"2700000_2800000","split":"train","numRows":100000,"numBytesParquet":1131112800},{"config":"300000_400000","split":"train","numRows":100000,"numBytesParquet":1073321998},{"config":"500000_600000","split":"train","numRows":100000,"numBytesParquet":925113316}]},"discussionsStats":{"closed":0,"open":1,"total":1},"fullWidth":true,"hasGatedAccess":true,"hasFullAccess":true,"isEmbedded":false,"savedQueries":{"community":[],"user":[]}}">
index int64 0 100k | blob_id stringlengths 40 40 | code stringlengths 7 7.27M | steps listlengths 1 1.25k | error bool 2
classes |
|---|---|---|---|---|
5,100 | 513d7e3c34cc9da030e2e018ad2db6972cf440dc | # Main Parameters
FONTS_PATH = "media/battle_font.ttf"
LEVELS_PATH = "media/levels"
GAME_MUSIC_PATH = "media/sounds/DOOM.ogg"
MENU_MUSIC_PATH = "media/sounds/ANewMorning.ogg"
# GAME Parameters
FONT_SIZE = 30
CELL_WIDTH = 13 * 2
CELL_HEIGHT = 13 * 2
CELL_SIZE = (CELL_WIDTH, CELL_HEIGHT)
FPS = 30
DISPLAY_WIDTH = CELL_WI... | [
"# Main Parameters\nFONTS_PATH = \"media/battle_font.ttf\"\nLEVELS_PATH = \"media/levels\"\nGAME_MUSIC_PATH = \"media/sounds/DOOM.ogg\"\nMENU_MUSIC_PATH = \"media/sounds/ANewMorning.ogg\"\n\n# GAME Parameters\nFONT_SIZE = 30\nCELL_WIDTH = 13 * 2\nCELL_HEIGHT = 13 * 2\nCELL_SIZE = (CELL_WIDTH, CELL_HEIGHT)\nFPS = 30... | false |
5,101 | c7f8731fe58a0e0065827b82bb4ad4af670541db | import gitlab
from core import settings
gl = gitlab.Gitlab('https://gitlab.intecracy.com/', private_token='dxQyb5fNbLnBxvvpFjyc')
gl.auth()
project = gl.projects.get(settings.projectID)
print(project)
pipelines = project.pipelines.get(26452)
print pipelines
pipelines_jobs = pipelines.jobs.list()[2]
jobs = project.j... | [
"import gitlab\nfrom core import settings\n\n\ngl = gitlab.Gitlab('https://gitlab.intecracy.com/', private_token='dxQyb5fNbLnBxvvpFjyc')\n\ngl.auth()\n\nproject = gl.projects.get(settings.projectID)\nprint(project)\npipelines = project.pipelines.get(26452)\nprint pipelines\npipelines_jobs = pipelines.jobs.list()[2]... | true |
5,102 | bc6c3383684cbba775d17f81ead3346fe1a01f90 | import os
import math
import time
from tqdm import tqdm
import torch
from torch import nn
import torch.optim as optim
from torch.nn import functional as F
from torch.nn.utils import clip_grad_norm_
from torch.utils.data import DataLoader
from nag.modules import Transformer, TransformerTorch
from nag.logger... | [
"import os\r\nimport math\r\nimport time\r\nfrom tqdm import tqdm\r\nimport torch\r\nfrom torch import nn\r\nimport torch.optim as optim\r\nfrom torch.nn import functional as F\r\nfrom torch.nn.utils import clip_grad_norm_\r\nfrom torch.utils.data import DataLoader\r\n\r\nfrom nag.modules import Transformer, Transf... | false |
5,103 | 07e875a24d0e63ef596db57c4ec402f768225eec | def printBoard(board,pref):
border = "+----+----+----+----+----+----+----+----+"
for row in board:
print(pref,border)
cells ="|"
for cell in row:
if cell == 0:
cell = " "
elif cell in range(1,10):
cell = "0{}".format(cell)
... | [
"def printBoard(board,pref):\n border = \"+----+----+----+----+----+----+----+----+\"\n for row in board:\n print(pref,border)\n cells =\"|\"\n for cell in row:\n if cell == 0:\n cell = \" \"\n elif cell in range(1,10):\n cell = \"0{}\"... | false |
5,104 | fb5508b1b5aa36c4921358d6ca7f96fc7d565241 | # https://www.acmicpc.net/problem/2751
# n 개 수가 주어짐
# 목표 오름차순정렬
# 첫 줄 n개
# 둘째줄부터 n개의 줄에 수가 주어짐 세로로
# 출력 오름차순 정렬한 결과를 한 줄에 하나씩 출력한다?
n=int(input())
n_list=[int(input()) for _ in range(n)]
# print(n_list)
nn_list = []
# 인덱스 2개 관리
mid_idx = len(n_list) //2
left_idx = 0
right_idx = mid_idx +1
while left_idx <= mid... | [
"# https://www.acmicpc.net/problem/2751\n\n# n 개 수가 주어짐 \n\n# 목표 오름차순정렬\n\n# 첫 줄 n개\n# 둘째줄부터 n개의 줄에 수가 주어짐 세로로\n\n# 출력 오름차순 정렬한 결과를 한 줄에 하나씩 출력한다?\n\n\nn=int(input())\nn_list=[int(input()) for _ in range(n)]\n# print(n_list)\nnn_list = []\n# 인덱스 2개 관리\nmid_idx = len(n_list) //2\nleft_idx = 0 \nright_idx = mid_idx +... | false |
5,105 | 4bb006e2e457f5b11157dacb43fe94c8b400f146 | #!/usr/bin/python
import sys
class Generator:
def __init__(self, seed, factor, multiple):
self.value = seed
self.factor = factor
self.multiple = multiple
def iterate(self):
self.value = ( self.value * self.factor ) % 2147483647
# Repeat if this isn't an exact multiple
... | [
"#!/usr/bin/python\n\nimport sys\n\nclass Generator:\n def __init__(self, seed, factor, multiple):\n self.value = seed\n self.factor = factor\n self.multiple = multiple\n\n def iterate(self):\n self.value = ( self.value * self.factor ) % 2147483647\n # Repeat if this isn't a... | true |
5,106 | ed246f2887f19ccf922a4d386918f0f0771fb443 | # -*- coding: utf-8 -*-
"""
Created on Sat Jun 23 20:33:08 2018
@author: ashima.garg
"""
import tensorflow as tf
class Layer():
def __init__(self, shape, mean, stddev):
self.weights = tf.Variable(tf.random_normal(shape=shape, mean=mean, stddev=stddev))
self.biases = tf.Variable(tf.zeros(shape=[s... | [
"# -*- coding: utf-8 -*-\n\"\"\"\nCreated on Sat Jun 23 20:33:08 2018\n\n@author: ashima.garg\n\"\"\"\n\nimport tensorflow as tf\n\nclass Layer():\n\n def __init__(self, shape, mean, stddev):\n self.weights = tf.Variable(tf.random_normal(shape=shape, mean=mean, stddev=stddev))\n self.biases = tf.Va... | false |
5,107 | f57490c8f4a5ba76824c3b41eb18905eb2213c23 | import pandas as pd
import os
"""
This code relies heavily on the form of the data. Namely it will fail if
the authors of the same book are not comma separated. It will also be inaccurate
or even fail if the same author for different books is not spelt in exactly the
same way.
"""
loc = r'C:\Users\james\OneDrive\Do... | [
"import pandas as pd\nimport os\n\n\"\"\"\nThis code relies heavily on the form of the data. Namely it will fail if \nthe authors of the same book are not comma separated. It will also be inaccurate\nor even fail if the same author for different books is not spelt in exactly the\nsame way.\n\"\"\"\n\n\nloc = r'C:\\... | false |
5,108 | 56d90835e64bd80fd9a6bb3a9b414e154d314d4a |
def get_analyse(curse):
'''
要求curse数据中index为时间，columns为策略名称，每一列为该策略净值
'''
qf_drawdown = []
qf_yeild = []
qf_std = []
date = curse.index
y = curse.copy()
for i in curse.columns:
# 计算当前日之前的资金曲线最高点
y["max2here"] = y[i].expanding().max()
# 计算历史最高值到... | [
"\r\ndef get_analyse(curse):\r\n '''\r\n 要求curse数据中index为时间，columns为策略名称，每一列为该策略净值\r\n\r\n '''\r\n qf_drawdown = []\r\n qf_yeild = []\r\n qf_std = []\r\n date = curse.index\r\n y = curse.copy()\r\n for i in curse.columns:\r\n # 计算当前日之前的资金曲线最高点\r\n y[\"max2here\"] = y[i].expa... | false |
5,109 | b310c35b781e3221e2dacc7717ed77e20001bafa | #!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Mon May 6 10:05:25 2019
@author: MCA
"""
import smtplib, ssl
from email import encoders
from email.mime.text import MIMEText
from email.mime.base import MIMEBase
from email.mime.multipart import MIMEMultipart
import os,sys
import time
def loadFiles(su... | [
"#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\"\"\"\nCreated on Mon May 6 10:05:25 2019\n\n@author: MCA\n\"\"\"\n\n\nimport smtplib, ssl\n\nfrom email import encoders\nfrom email.mime.text import MIMEText\nfrom email.mime.base import MIMEBase\nfrom email.mime.multipart import MIMEMultipart\n\nimport os,sys\ni... | false |
5,110 | 00dbcae2d3941c9ef4c8b6753b8f6f7a46417400 | import torch
import torch.nn as nn
import torch.optim as optim
import torchtext
import absl.flags
import absl.app
import pickle
import yaml
import numpy as np
from tqdm import tqdm
from core import model
import core.dnc.explanation
from core import functions
from core.config import ControllerConfig, MemoryConfig, Train... | [
"import torch\nimport torch.nn as nn\nimport torch.optim as optim\nimport torchtext\nimport absl.flags\nimport absl.app\nimport pickle\nimport yaml\nimport numpy as np\nfrom tqdm import tqdm\nfrom core import model\nimport core.dnc.explanation\nfrom core import functions\nfrom core.config import ControllerConfig, M... | false |
5,111 | a4d47b9a28ec66f6a0473498674ebc538d909519 | import tkinter.ttk
import tkinter as tk
def update_info(info_t, data):
# temp = info_t.selection_set("x")
# print(temp)
# info_t.delete(temp)
# temp = info_t.selection_set("y")
# info_t.delete(temp)
pass
def path_to_string(s):
res = ""
for i in range(len(s)-1):
res += str(s[i... | [
"import tkinter.ttk\nimport tkinter as tk\n\n\n\ndef update_info(info_t, data):\n # temp = info_t.selection_set(\"x\")\n # print(temp)\n # info_t.delete(temp)\n # temp = info_t.selection_set(\"y\")\n # info_t.delete(temp)\n pass\n\ndef path_to_string(s):\n res = \"\"\n for i in range(len(s)-... | false |
5,112 | 15539d824490b7ae4724e7c11949aa1db25ecab2 | #!/user/bin/env python
# -*- coding: utf-8 -*-
# @Author : XordenLee
# @Time : 2019/2/1 18:51
import itchat
import requests
import sys
default_api_key = 'bb495c529b0e4efebd5d2632ecac5fb8'
def send(user_id, input_text, api_key=None):
if not api_key:
api_key = default_api_key
msg = {
... | [
"#!/user/bin/env python\r\n# -*- coding: utf-8 -*-\r\n# @Author : XordenLee\r\n# @Time : 2019/2/1 18:51\r\n\r\n\r\nimport itchat\r\nimport requests\r\nimport sys\r\n\r\ndefault_api_key = 'bb495c529b0e4efebd5d2632ecac5fb8'\r\n\r\ndef send(user_id, input_text, api_key=None):\r\n if not api_key:\r\n api_ke... | false |
5,113 | 6c825cb60475a1570e048cab101567bd5847d2c2 | from django.shortcuts import render_to_response, get_object_or_404
from django.http import HttpResponseNotFound
from django.template import RequestContext
from bgame.models import Game, Period, Player, ROLES
from bgame.forms import GameForm
import logging
log = logging.getLogger(__name__)
def index(request):
games... | [
"from django.shortcuts import render_to_response, get_object_or_404\nfrom django.http import HttpResponseNotFound\nfrom django.template import RequestContext\nfrom bgame.models import Game, Period, Player, ROLES\nfrom bgame.forms import GameForm\n\nimport logging\nlog = logging.getLogger(__name__)\n\ndef index(requ... | true |
5,114 | 789f95095346262a04e7de0f9f9c5df6177e8fbc | # -*- coding: utf-8 -*-
import json
from django.conf import settings
from pdf_generator.utils import build_pdf_stream_from
from django.http import JsonResponse
from helpers.views import ApiView
from pdf_generator.forms import PdfTempStoreForm
from pdf_generator.serializers import PdfTempStoreSerializer
class Report... | [
"# -*- coding: utf-8 -*-\nimport json\nfrom django.conf import settings\nfrom pdf_generator.utils import build_pdf_stream_from\nfrom django.http import JsonResponse\n\nfrom helpers.views import ApiView\n\nfrom pdf_generator.forms import PdfTempStoreForm\nfrom pdf_generator.serializers import PdfTempStoreSerializer\... | false |
5,115 | f9f66452756cb67689d33aeb2e77535086355a7d | import telebot
import os
from misc.answers import answer_incorrect, answer_correct, answer_start
from helper import get_challenge_text, get_solved_challenge_text, is_correct_answer
bot = telebot.TeleBot(os.environ.get('API_KEY_TELEGRAM'))
default_parse_mode = "Markdown"
@bot.message_handler(commands=['start'])
def w... | [
"import telebot\nimport os\nfrom misc.answers import answer_incorrect, answer_correct, answer_start\nfrom helper import get_challenge_text, get_solved_challenge_text, is_correct_answer\n\nbot = telebot.TeleBot(os.environ.get('API_KEY_TELEGRAM'))\ndefault_parse_mode = \"Markdown\"\n\n\n@bot.message_handler(commands=... | false |
5,116 | e0f25addad8af4541f1404b76d4798d2223d9715 | """
Use the same techniques such as (but not limited to):
1) Sockets
2) File I/O
3) raw_input()
from the OSINT HW to complete this assignment. Good luck!
"""
import socket
import re
import time
host = "cornerstoneairlines.co" # IP address here
port = 45 # Port here
def execute_cmd(cm... | [
"\"\"\"\n Use the same techniques such as (but not limited to):\n 1) Sockets\n 2) File I/O\n 3) raw_input()\n\n from the OSINT HW to complete this assignment. Good luck!\n\"\"\"\n\nimport socket\nimport re\nimport time\n\nhost = \"cornerstoneairlines.co\" # IP address here\nport = 45 # Po... | false |
5,117 | 607f0aac0d6d2c05737f59803befcff37d559398 | #!usr/bin/env python
# -*- coding:utf-8 -*-
"""
@author: Jack
@datetime: 2018/8/31 13:32
@E-mail: zhangxianlei117@gmail.com
"""
def isValid(s):
stack = []
for ss in s:
if ss in '([{':
stack.append(ss)
if ss in ')]}':
if len(stack) <= 0:
return Fal... | [
"#!usr/bin/env python\n# -*- coding:utf-8 -*-\n\"\"\"\n@author: Jack\n@datetime: 2018/8/31 13:32\n@E-mail: zhangxianlei117@gmail.com\n\"\"\"\n\n\ndef isValid(s):\n stack = []\n for ss in s:\n if ss in '([{':\n stack.append(ss)\n if ss in ')]}':\n if len(stack) <= 0:\... | true |
5,118 | ea3217be80b6d1d3a400139bc4a91870cd2f1d87 | #!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jun 14 20:35:10 2020
@author: Johanna
"""
import numpy as np
###############################################################################
# Complex Visibility Functions
###############################################################################
... | [
"#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\"\"\"\nCreated on Sun Jun 14 20:35:10 2020\n\n@author: Johanna\n\"\"\"\nimport numpy as np\n\n###############################################################################\n# Complex Visibility Functions\n##########################################################... | false |
5,119 | 7f52354487f85a0bf1783c8aa76f228ef17e6d6b | import datetime
import pendulum
import requests
from prefect import task, Flow, Parameter
from prefect.engine.signals import SKIP
from prefect.tasks.notifications.slack_task import SlackTask
from prefect.tasks.secrets import Secret
city = Parameter(name="City", default="San Jose")
api_key = Secret("WEATHER_API_KEY")
... | [
"import datetime\nimport pendulum\nimport requests\nfrom prefect import task, Flow, Parameter\nfrom prefect.engine.signals import SKIP\nfrom prefect.tasks.notifications.slack_task import SlackTask\nfrom prefect.tasks.secrets import Secret\n\n\ncity = Parameter(name=\"City\", default=\"San Jose\")\napi_key = Secret(... | false |
5,120 | 15bcfd8859322034ec76a8c861d2151153ab54af | import sys
import urllib
import urlparse
import xbmcgui
import xbmcplugin
import xbmcaddon
import shutil
from shutil import copyfile
base_url = sys.argv[0]
addon_handle = int(sys.argv[1])
args = urlparse.parse_qs(sys.argv[2][1:])
addon = xbmcaddon.Addon()
xbmcplugin.setContent(addon_handle, 'videos')
... | [
"import sys\r\nimport urllib\r\nimport urlparse\r\nimport xbmcgui\r\nimport xbmcplugin\r\nimport xbmcaddon\r\nimport shutil\r\nfrom shutil import copyfile\r\n\r\nbase_url = sys.argv[0]\r\naddon_handle = int(sys.argv[1])\r\nargs = urlparse.parse_qs(sys.argv[2][1:])\r\naddon = xbmcaddon.Addon()\r\n\r\nxbmcplugin.set... | true |
5,121 | 8cdd7646dbf23259e160186f332b5cb02b67291b | # Generated by Django 2.2.3 on 2019-07-11 22:04
from django.db import migrations, models
class Migration(migrations.Migration):
dependencies = [
('app1', '0002_property_details'),
]
operations = [
migrations.AlterField(
model_name='property_details',
name='flat_t... | [
"# Generated by Django 2.2.3 on 2019-07-11 22:04\n\nfrom django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n\n dependencies = [\n ('app1', '0002_property_details'),\n ]\n\n operations = [\n migrations.AlterField(\n model_name='property_details',\n ... | false |
5,122 | 5c8de06176d06c5a2cf78ac138a5cb35e168d617 | import os
import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
from sklearn.feature_extraction.text import CountVectorizer
from sklearn.decomposition import TruncatedSVD
from sklearn.metrics.pairwise import cosine_similarity
def get_df_4_model(user_id, n_recommendations = 20000):
'''this func... | [
"import os\nimport numpy as np\nimport pandas as pd\nimport matplotlib.pyplot as plt\nfrom sklearn.feature_extraction.text import CountVectorizer\nfrom sklearn.decomposition import TruncatedSVD\nfrom sklearn.metrics.pairwise import cosine_similarity\n\n\n\n\n\ndef get_df_4_model(user_id, n_recommendations = 20000):... | false |
5,123 | 9155b3eed8ac79b94a033801dbf142392b50720b | from bs4 import BeautifulSoup
from cybersource.constants import CHECKOUT_BASKET_ID, CHECKOUT_ORDER_NUM, CHECKOUT_SHIPPING_CODE, CHECKOUT_ORDER_ID
from cybersource.tests import factories as cs_factories
from decimal import Decimal as D
from django.core import mail
from django.core.urlresolvers import reverse
from mock i... | [
"from bs4 import BeautifulSoup\nfrom cybersource.constants import CHECKOUT_BASKET_ID, CHECKOUT_ORDER_NUM, CHECKOUT_SHIPPING_CODE, CHECKOUT_ORDER_ID\nfrom cybersource.tests import factories as cs_factories\nfrom decimal import Decimal as D\nfrom django.core import mail\nfrom django.core.urlresolvers import reverse\n... | false |
5,124 | ce28330db66dcdfad63bdac698ce9d285964d288 | import pandas as pd
file = pd.read_csv("KDDTest+.csv")
with open("test_9feats.csv", "w") as f:
df = pd.DataFrame(file,
columns=[
"dst_host_srv_serror_rate", "dst_host_serror_rate",
"serror_rate", "srv_serror_rate", "count", "flag",
... | [
"import pandas as pd\n\nfile = pd.read_csv(\"KDDTest+.csv\")\nwith open(\"test_9feats.csv\", \"w\") as f:\n df = pd.DataFrame(file,\n columns=[\n \"dst_host_srv_serror_rate\", \"dst_host_serror_rate\",\n \"serror_rate\", \"srv_serror_rate\", ... | false |
5,125 | 55b8590410bfe8f12ce3b52710238a79d27189a7 | import logging
from utils import Utils
from block import Block
from message import Message
from transaction import Transaction
class Response:
def __init__(self, node, data):
self.node = node
self.data = data
self.selector()
def selector(self):
if self.data['flag'] == 1:
... | [
"import logging\n\nfrom utils import Utils\nfrom block import Block\nfrom message import Message\nfrom transaction import Transaction\n\nclass Response:\n def __init__(self, node, data):\n self.node = node\n self.data = data\n self.selector()\n\n def selector(self):\n if self.data[... | false |
5,126 | 700b0b12c75fa502da984319016f6f44bc0d52cc | /home/lidija/anaconda3/lib/python3.6/sre_constants.py | [
"/home/lidija/anaconda3/lib/python3.6/sre_constants.py"
] | true |
5,127 | dc5d56d65417dd8061a018a2f07132b03e2d616e | # 15650번 수열 2번째
n, m = list(map(int, input().split()))
arr = [i for i in range(1,n+1)]
check = []
def seq(ctn, array, l):
if sorted(check) in array:
return
# if ctn == m:
# # l+=1
# # print('ctn :',ctn,' check :',sorted(check))
# array.append(sorted(check))
# for k in ... | [
"# 15650번 수열 2번째\n\nn, m = list(map(int, input().split()))\n\narr = [i for i in range(1,n+1)]\ncheck = []\n\ndef seq(ctn, array, l):\n if sorted(check) in array:\n return\n # if ctn == m:\n # # l+=1\n # # print('ctn :',ctn,' check :',sorted(check))\n # array.append(sorted(check))\n... | false |
5,128 | 8498ba69e4cc5c5f480644ac20d878fb2a632bee | '''
Confeccionar un programa que genere un número aleatorio entre 1 y 100 y no se muestre.
El operador debe tratar de adivinar el número ingresado.
Cada vez que ingrese un número mostrar un mensaje "Gano" si es igual al generado o "El número aleatorio el mayor" o "El número aleatorio es menor".
Mostrar cuando gana el j... | [
"'''\nConfeccionar un programa que genere un número aleatorio entre 1 y 100 y no se muestre.\nEl operador debe tratar de adivinar el número ingresado.\nCada vez que ingrese un número mostrar un mensaje \"Gano\" si es igual al generado o \"El número aleatorio el mayor\" o \"El número aleatorio es menor\".\nMostrar c... | false |
5,129 | c5d224a3d63d0d67bc7a48fecec156cca41cdcf7 | #!/usr/bin/python
"""
Starter code for exploring the Enron dataset (emails + finances);
loads up the dataset (pickled dict of dicts).
The dataset has the form:
enron_data["LASTNAME FIRSTNAME MIDDLEINITIAL"] = { features_dict }
{features_dict} is a dictionary of features associated with that pers... | [
"#!/usr/bin/python\n\n\"\"\" \n Starter code for exploring the Enron dataset (emails + finances);\n loads up the dataset (pickled dict of dicts).\n\n The dataset has the form:\n enron_data[\"LASTNAME FIRSTNAME MIDDLEINITIAL\"] = { features_dict }\n\n {features_dict} is a dictionary of features associ... | true |
5,130 | ac83d7d39319c08c35302abfb312ebee463b75b2 | import sys
from melody_types import *
import dataclasses
"""
Marks notes for grace notes
"""
# Mark grace notes on the peak note of every segment
def _peaks(song):
for phrase in song.phrases:
for pe in phrase.phrase_elements:
if type(pe) == Segment:
if pe.direction != SegmentDir... | [
"import sys\nfrom melody_types import *\nimport dataclasses\n\"\"\"\nMarks notes for grace notes\n\"\"\"\n\n# Mark grace notes on the peak note of every segment\ndef _peaks(song):\n for phrase in song.phrases:\n for pe in phrase.phrase_elements:\n if type(pe) == Segment:\n if pe.... | false |
5,131 | 940c3b4a2b96907644c0f12deddd8aba4086a0f0 | # -*- coding: utf-8 -*-
from tensorflow.python.ops.image_ops_impl import ResizeMethod
import sflow.core as tf
from sflow.core import layer
import numpy as np
# region arg helper
def _kernel_shape(nd, k, indim, outdim):
if isinstance(k, int):
k = [k for _ in range(nd)]
k = list(k)
assert len(k) =... | [
"# -*- coding: utf-8 -*-\nfrom tensorflow.python.ops.image_ops_impl import ResizeMethod\n\nimport sflow.core as tf\nfrom sflow.core import layer\nimport numpy as np\n\n# region arg helper\n\n\ndef _kernel_shape(nd, k, indim, outdim):\n if isinstance(k, int):\n k = [k for _ in range(nd)]\n k = list(k)\n... | false |
5,132 | b5fee01582a28085983c56b9c266ef7fd5c3c927 | #!/usr/bin/env python
import cgitb
import cgi
import pymysql
form = cgi.FieldStorage()
c.execute("SELECT * FROM example")
recs = c.fetchall()
records1 = """
<body>
<table>
<tbody>
<tr>
<th>Full Name</th>
<th>Average Score</th>
</tr>"""
records_dyn = [
f"<tr><td>{name}</td><td>{avg... | [
"#!/usr/bin/env python\r\nimport cgitb\r\nimport cgi\r\nimport pymysql\r\n\r\nform = cgi.FieldStorage()\r\nc.execute(\"SELECT * FROM example\")\r\nrecs = c.fetchall()\r\nrecords1 = \"\"\"\r\n<body>\r\n\t<table>\r\n\t\t<tbody>\r\n\t\t\t<tr>\r\n\t\t\t\t<th>Full Name</th>\r\n\t\t\t\t<th>Average Score</th>\r\n\t\t\t</t... | false |
5,133 | 1482c8276f9cfc912293356d04e08307edf6d367 | import tkinter as tk
import cnt_script as sW
import key_script as kW
import text_script as tW
class MainWindow(tk.Tk):
def __init__(self):
super().__init__()
self.title("Main Window")
self.geometry("600x400+30+30")
tk.Button(self, text = "Count Tags", command = self.new_ta... | [
"import tkinter as tk\r\nimport cnt_script as sW\r\nimport key_script as kW\r\nimport text_script as tW\r\nclass MainWindow(tk.Tk):\r\n def __init__(self):\r\n super().__init__()\r\n self.title(\"Main Window\")\r\n self.geometry(\"600x400+30+30\")\r\n\r\n tk.Button(self, text = \"Coun... | false |
5,134 | 0992297ffc19b1bc4dc3d5e8a75307009c837032 | import strawberry as stb
from app.crud import cruduser
from app.db import get_session
@stb.type
class Query:
@stb.field
async def ReadUser(self, info, username: str):
ses = await get_session()
fields = info.field_nodes[0].selection_set.selections[0]
return await cruduser.get_user(ses, ... | [
"import strawberry as stb\nfrom app.crud import cruduser\nfrom app.db import get_session\n\n\n@stb.type\nclass Query:\n @stb.field\n async def ReadUser(self, info, username: str):\n ses = await get_session()\n fields = info.field_nodes[0].selection_set.selections[0]\n return await cruduse... | false |
5,135 | 0dea8675d8050a91c284a13bcbce6fd0943b604e | import pandas as pd
import numpy as np
class LabeledArray:
@staticmethod
def get_label_for_indexes_upto(input_data, input_label, input_index):
df_input_data = pd.DataFrame(input_data)
df_labels = pd.DataFrame(input_label)
df_data_labels = pd.concat([df_input_data, df_labels], axis=1)
... | [
"import pandas as pd\nimport numpy as np\n\n\nclass LabeledArray:\n @staticmethod\n def get_label_for_indexes_upto(input_data, input_label, input_index):\n df_input_data = pd.DataFrame(input_data)\n df_labels = pd.DataFrame(input_label)\n df_data_labels = pd.concat([df_input_data, df_labe... | false |
5,136 | 043ea0efd490522de4f6ee4913c8d66029b34ff5 | # =============================================================================
# Created By : Mohsen Malmir
# Created Date: Fri Nov 09 8:10 PM EST 2018
# Purpose : this file implements the gui handling to interact with emulators
# =============================================================================
from... | [
"# =============================================================================\n# Created By : Mohsen Malmir\n# Created Date: Fri Nov 09 8:10 PM EST 2018\n# Purpose : this file implements the gui handling to interact with emulators\n# ==========================================================================... | false |
5,137 | 7435aa6cd4eec5582be9f4a1dd75b0dfcadc4409 | from flask_socketio import SocketIO
socket = SocketIO()
@socket.on('test')
def on_test(msg):
print 'got message'
| [
"from flask_socketio import SocketIO\n\nsocket = SocketIO()\n\n@socket.on('test')\ndef on_test(msg):\n print 'got message'\n"
] | true |
5,138 | 47cf3045f2fa0f69759e09b1599e4afe953c06d8 | INITIAL_B = 0.15062677711161448
B_FACTOR = 5.0
INITIAL_GE = 0.22581915788215678
GE_BOUNDS = [1.0 / 10.0, 1.0 / 4.0]
FIXED_P = 0.9401234488501574
INITIAL_GU = 0.2145066414796447
GU_BOUNDS = [1.0 / 15.0, 1.0 / 2.0]
INITIAL_GI = 0.19235137989123863
GI_BOUNDS = [1.0 / 15.0, 1.0 / 5.0]
INITIAL_GH = 0.044937075878220795... | [
"INITIAL_B = 0.15062677711161448\nB_FACTOR = 5.0\n\nINITIAL_GE = 0.22581915788215678\nGE_BOUNDS = [1.0 / 10.0, 1.0 / 4.0]\n\nFIXED_P = 0.9401234488501574\n\nINITIAL_GU = 0.2145066414796447\nGU_BOUNDS = [1.0 / 15.0, 1.0 / 2.0]\n\nINITIAL_GI = 0.19235137989123863\nGI_BOUNDS = [1.0 / 15.0, 1.0 / 5.0]\n\nINITIAL_GH = 0... | false |
5,139 | 461b2de86907047df53c3857c6b0397e77de3fcd | import keras
from keras.applications import VGG16
from keras.preprocessing.image import ImageDataGenerator
from keras.models import Model
import matplotlib.pyplot as plt
from keras.callbacks import History
import numpy as np
import os
import cPickle as pickle
import scipy
from scipy import spatial
def getM... | [
"import keras\r\nfrom keras.applications import VGG16\r\nfrom keras.preprocessing.image import ImageDataGenerator\r\nfrom keras.models import Model\r\nimport matplotlib.pyplot as plt\r\nfrom keras.callbacks import History\r\nimport numpy as np\r\nimport os\r\nimport cPickle as pickle\r\nimport scipy\r\nfrom scipy i... | true |
5,140 | ba1648143d49110a163da02e60fb0fd024a10b79 | from __future__ import print_function # Should comes first than torch
import torch
from torch.autograd import Variable
##
## Autograd.Variable is the central class of the package. It wraps a Tensor, and supports nearly all of operations defined on it. Once you finish your computation you can call .backward() and have ... | [
"from __future__ import print_function # Should comes first than torch\nimport torch\nfrom torch.autograd import Variable\n\n##\n## Autograd.Variable is the central class of the package. It wraps a Tensor, and supports nearly all of operations defined on it. Once you finish your computation you can call .backward()... | false |
5,141 | 7b527f9ec66ddf35f3395d78c857c021975402c7 | from django.urls import path
from main.views import IndexView, BuiltinsView, CustomView
app_name = 'main'
urlpatterns = [
path('', IndexView.as_view(), name='index'),
path('builtins/', BuiltinsView.as_view(), name='builtins'),
path('custom/', CustomView.as_view(), name='custom')
]
| [
"from django.urls import path\nfrom main.views import IndexView, BuiltinsView, CustomView\n\napp_name = 'main'\nurlpatterns = [\n path('', IndexView.as_view(), name='index'),\n path('builtins/', BuiltinsView.as_view(), name='builtins'),\n path('custom/', CustomView.as_view(), name='custom')\n]\n",
"from ... | false |
5,142 | 67e0536dc9f38ab82fe30e715599fed93c5425a5 | from ...java import opcodes as JavaOpcodes
from .primitives import ICONST_val
##########################################################################
# Common Java operations
##########################################################################
class New:
def __init__(self, classname):
self.clas... | [
"from ...java import opcodes as JavaOpcodes\n\nfrom .primitives import ICONST_val\n\n\n##########################################################################\n# Common Java operations\n##########################################################################\n\nclass New:\n def __init__(self, classname):\n ... | false |
5,143 | 3f41cb1acbbb1a397ae1288bca1cbcd27c0d3f33 | # -*- coding: utf-8 -*-
import os
import subprocess
import virtualenv
from templateserver import __version__ as version
DEFAULT_TEMPLATE_DIR = 'templates'
DEFAULT_MEDIA_DIR = 'media'
DEFAULT_STATIC_DIR = 'static'
DEFAULT_ENV_DIR = '.env'
DEFAULT_RUNSERVER_PATH = 'runserver.py'
RUNSERVER_TEMPLATE = os.path.abspath(os... | [
"# -*- coding: utf-8 -*-\nimport os\nimport subprocess\nimport virtualenv\nfrom templateserver import __version__ as version\n\n\nDEFAULT_TEMPLATE_DIR = 'templates'\nDEFAULT_MEDIA_DIR = 'media'\nDEFAULT_STATIC_DIR = 'static'\nDEFAULT_ENV_DIR = '.env'\nDEFAULT_RUNSERVER_PATH = 'runserver.py'\n\nRUNSERVER_TEMPLATE = ... | true |
5,144 | b4e2897e20448d543c93402174db7da4066a8510 | class Solution(object):
def isIsomorphic(self, s, t):
"""
:type s: str
:type t: str
:rtype: bool
"""
exist = set()
s_to_t = {}
if len(s) != len(t):
return False
for i, v in enumerate(s):
if v not in s_t... | [
"class Solution(object):\n def isIsomorphic(self, s, t):\n \"\"\"\n :type s: str\n :type t: str\n :rtype: bool\n \"\"\"\n exist = set()\n s_to_t = {}\n \n if len(s) != len(t):\n return False\n \n for i, v in enumerate(s):\n ... | false |
5,145 | e6ab18d87ace00436a480f4f01da224eead84fc0 | from PIL import Image, ImageDraw, ImageFont
from PIL.ExifTags import TAGS
from datetime import datetime
#Extracts the timestamp from the filename and inserts it into the image
def insert_timestamp_from_filename_into_image(path_to_image:str,
ignorable_string:str,
output_filename:str = "",
distance_to_border:int = 5, ... | [
"from PIL import Image, ImageDraw, ImageFont\nfrom PIL.ExifTags import TAGS\nfrom datetime import datetime\n\n#Extracts the timestamp from the filename and inserts it into the image\ndef insert_timestamp_from_filename_into_image(path_to_image:str, \nignorable_string:str,\noutput_filename:str = \"\", \ndistance_to_b... | false |
5,146 | b6d9b6ec10271627b7177acead9a617520dec8f8 | import pygame
from pygame.locals import *
import threading
from load import *
import time
import socket as sck
import sys
port=8767
grid=[[None,None,None],[None,None,None],[None,None,None]]
XO='X'
OX='X'
winner=None
coordinate1=600
coordinate2=20
begin=0
address=('localhost',port)
class TTTError(Exception):
def __i... | [
"import pygame\nfrom pygame.locals import *\n\nimport threading\nfrom load import *\nimport time\nimport socket as sck\nimport sys\n\nport=8767\ngrid=[[None,None,None],[None,None,None],[None,None,None]]\nXO='X'\nOX='X'\nwinner=None\ncoordinate1=600\ncoordinate2=20\nbegin=0\naddress=('localhost',port)\n\nclass TTTEr... | true |
5,147 | ff13ac0ee401471fe5446e8149f019d9da7f3ddf | import pytest
from feast.pyspark.launchers.gcloud import DataprocClusterLauncher
@pytest.fixture
def dataproc_launcher(pytestconfig) -> DataprocClusterLauncher:
cluster_name = pytestconfig.getoption("--dataproc-cluster-name")
region = pytestconfig.getoption("--dataproc-region")
project_id = pytestconfig.... | [
"import pytest\n\nfrom feast.pyspark.launchers.gcloud import DataprocClusterLauncher\n\n\n@pytest.fixture\ndef dataproc_launcher(pytestconfig) -> DataprocClusterLauncher:\n cluster_name = pytestconfig.getoption(\"--dataproc-cluster-name\")\n region = pytestconfig.getoption(\"--dataproc-region\")\n project_... | false |
5,148 | ef1b759872de6602646ce095823ff37f043ffd9d | class Solution(object):
def isPalindrome(self, x):
"""
:type x: int
:rtype: bool
"""
if x < 0: return False
t = []
while x != 0:
t.append(x % 10)
x /= 10
i, j = 0, len(t)-1
while i < j:
if t[i] !... | [
"class Solution(object):\r\n def isPalindrome(self, x):\r\n \"\"\"\r\n :type x: int\r\n :rtype: bool\r\n \"\"\"\r\n if x < 0: return False\r\n t = []\r\n while x != 0:\r\n t.append(x % 10)\r\n x /= 10\r\n i, j = 0, len(t)-1\r\n ... | false |
5,149 | c3755ff5d4262dbf6eaf3df58a336f5e61531435 |
from itertools import cycle
STEP_VAL = 376
spinlock = []
for count in range(2018):
len(spinlock) % count | [
"\nfrom itertools import cycle\n\nSTEP_VAL = 376\n\nspinlock = []\n\nfor count in range(2018):\n len(spinlock) % count",
"from itertools import cycle\nSTEP_VAL = 376\nspinlock = []\nfor count in range(2018):\n len(spinlock) % count\n",
"<import token>\nSTEP_VAL = 376\nspinlock = []\nfor count in range(201... | false |
5,150 | 5c1465bc70010ecabc156a04ec9877bbf66a229d | import sys
import time
import numpy
import pb_robot
import pyquaternion
import pybullet as p
from copy import deepcopy
from actions import PlaceAction, make_platform_world
from block_utils import get_adversarial_blocks, rotation_group, ZERO_POS, \
Quaternion, get_rotated_block, Pose, add_noise,... | [
"import sys\nimport time\nimport numpy\nimport pb_robot\nimport pyquaternion\nimport pybullet as p\nfrom copy import deepcopy\n\nfrom actions import PlaceAction, make_platform_world\nfrom block_utils import get_adversarial_blocks, rotation_group, ZERO_POS, \\\n Quaternion, get_rotated_block, ... | false |
5,151 | 41c44b32ce3329cbba5b9b336c4266bb20de31f0 | import shelve
def quantity_posts():
try:
data = shelve.open('data')
except Exception:
print(Exception)
else:
for key, value in sorted(data.items()):
print(key, ': \t', value, '\n')
finally:
data.close()
if __name__ == "__main__":
print('b... | [
"import shelve\r\n\r\ndef quantity_posts():\r\n try:\r\n data = shelve.open('data')\r\n except Exception:\r\n print(Exception)\r\n else:\r\n for key, value in sorted(data.items()):\r\n print(key, ': \\t', value, '\\n')\r\n finally:\r\n data.close()\r\n\r\n\r\nif __... | false |
5,152 | fd391d28d76b0c1b3cf6d0b5134390ab3f1267fb | #!/usr/bin/python
#
# Copyright 2018-2020 Polyaxon, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable ... | [
"#!/usr/bin/python\n#\n# Copyright 2018-2020 Polyaxon, Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless requir... | false |
5,153 | f49a133fa94aae791ef0f1eec54cf0629f45a0ed | # -*- coding: UTF-8 -*-
'''
model = DQN,DDQN,PDQN,PDDQN,DQN_PER,DDQN_PER,DQN_InAday,DQN_PER_Ipm...
'''
# -----------ContolGame------------
# CartPole - v1, MountainCar - v0, Acrobot - v1, Pendulum - v0
# from run_ContolGame import run_Game
# run_Game('DQN', 'CartPole-v1', episodes=400) # model,env,episodes
# --------... | [
"# -*- coding: UTF-8 -*-\n'''\nmodel = DQN,DDQN,PDQN,PDDQN,DQN_PER,DDQN_PER,DQN_InAday,DQN_PER_Ipm...\n'''\n# -----------ContolGame------------\n# CartPole - v1, MountainCar - v0, Acrobot - v1, Pendulum - v0\n# from run_ContolGame import run_Game\n# run_Game('DQN', 'CartPole-v1', episodes=400) # model,env,episodes... | false |
5,154 | f5820824b5b7e473b79b5dfee2f203684c3755be | # -*- coding: utf-8 -*-
import pandas as pd
import matplotlib.pyplot as plt
from tqdm import tqdm
from scipy.io import loadmat
from mpl_toolkits.mplot3d import axes3d
import matplotlib.pyplot as plt
import numpy as np
import copy
from matplotlib import cm
from matplotlib.animation import FuncAnimation
import scipy.opt... | [
"# -*- coding: utf-8 -*-\n\nimport pandas as pd\nimport matplotlib.pyplot as plt\nfrom tqdm import tqdm\nfrom scipy.io import loadmat\nfrom mpl_toolkits.mplot3d import axes3d\nimport matplotlib.pyplot as plt\nimport numpy as np\nimport copy\nfrom matplotlib import cm\nfrom matplotlib.animation import FuncAnimation\... | false |
5,155 | 156203042ed8a9bde0e9d8587ea3d37de6bcfdf7 | # -*- coding: utf-8 -*-
from __future__ import unicode_literals
from django.db import migrations, models
class Migration(migrations.Migration):
dependencies = [
('sub_adjuster', '0002_parameters'),
]
operations = [
migrations.AlterField(
model_name='subtitles',
n... | [
"# -*- coding: utf-8 -*-\nfrom __future__ import unicode_literals\n\nfrom django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n\n dependencies = [\n ('sub_adjuster', '0002_parameters'),\n ]\n\n operations = [\n migrations.AlterField(\n model_name='subtit... | false |
5,156 | 527d514cbad0916fecfe0da68de04d3b130d94c7 | import re
from prometheus_client.core import GaugeMetricFamily
class ArrayHardwareMetrics:
def __init__(self, fa):
self.fa = fa
self.chassis_health = None
self.controller_health = None
self.component_health = None
self.temperature = None
self.temperature = None
... | [
"import re\nfrom prometheus_client.core import GaugeMetricFamily\n\n\nclass ArrayHardwareMetrics:\n\n def __init__(self, fa):\n self.fa = fa\n self.chassis_health = None\n self.controller_health = None\n self.component_health = None\n self.temperature = None\n self.tempe... | false |
5,157 | 836e2fd6eca7453ab7a3da2ecb21705552b5f627 | import data
import numpy as np
import matplotlib.pyplot as plt
import xgboost as xgb
import pandas as pd
import csv
from matplotlib2tikz import save as tikz_save
import trial_sets
def print_stats(trial_id, dl):
wrist_device, _, true_device = dl.load_oxygen(trial_id, iid=False)
print("Length of Dataframe: " ... | [
"import data\nimport numpy as np\nimport matplotlib.pyplot as plt\nimport xgboost as xgb\nimport pandas as pd\nimport csv\n\nfrom matplotlib2tikz import save as tikz_save\n\nimport trial_sets\n\n\ndef print_stats(trial_id, dl):\n wrist_device, _, true_device = dl.load_oxygen(trial_id, iid=False)\n print(\"Len... | false |
5,158 | 95256390e1e7e9227b96dccce33082de9d2cddd3 | import datetime
class Dato:
def __init__(self, id: int, dato: str, tipo: str, fecha: datetime.datetime):
self.__id = id
self.__dato = dato
self.__tipo = tipo
self.__fecha = fecha
def getId(self):
return self.__id
def setId(self, id):
self.__id = id
def... | [
"import datetime\n\nclass Dato:\n def __init__(self, id: int, dato: str, tipo: str, fecha: datetime.datetime):\n self.__id = id\n self.__dato = dato\n self.__tipo = tipo\n self.__fecha = fecha\n\n def getId(self):\n return self.__id\n\n def setId(self, id):\n self.... | false |
5,159 | afccf460bcf04f38b8c66177c86debd39a1b165f | # [백준] https://www.acmicpc.net/problem/11053 가장 긴 증가하는 부분 수열
# 일단 재귀식으로 풀어보기
# 이분탐색 어떻게 할 지 모르겠다
import sys
N = int(sys.stdin.readline().strip())
A = list(map(int, sys.stdin.readline().split()))
def recur():
if A[i] < A[i-1]:
| [
"# [백준] https://www.acmicpc.net/problem/11053 가장 긴 증가하는 부분 수열\n# 일단 재귀식으로 풀어보기\n# 이분탐색 어떻게 할 지 모르겠다\n\nimport sys\n\nN = int(sys.stdin.readline().strip())\nA = list(map(int, sys.stdin.readline().split()))\n\ndef recur():\n\n if A[i] < A[i-1]:\n\n\n\n\n\n\n\n\n\n"
] | true |
5,160 | 66cdeaa106a8f22dbfd64c12c4cb04fdb9f5b453 | #!/usr/bin/env python
import sys
import ROOT
from ROOT import TTree
from ROOT import TChain
import numpy as np
import yaml
import xml.etree.ElementTree as ET
import datetime
#sys.path.append("/disk/gamma/cta/store/takhsm/FermiMVA/AllSky")
#sys.path.append("/home/takhsm/FermiMVA/python")
ROOT.gROOT.SetBatch()
from arra... | [
"#!/usr/bin/env python\n\nimport sys\nimport ROOT\nfrom ROOT import TTree\nfrom ROOT import TChain\nimport numpy as np\nimport yaml\nimport xml.etree.ElementTree as ET\nimport datetime\n#sys.path.append(\"/disk/gamma/cta/store/takhsm/FermiMVA/AllSky\")\n#sys.path.append(\"/home/takhsm/FermiMVA/python\")\nROOT.gROOT... | true |
5,161 | d4198c2c3706e03ba1bce3e31c5139f01248a184 | #------------------------------------------------------------------------------
# Copyright (c) 2011, Enthought, Inc.
# All rights reserved.
#------------------------------------------------------------------------------
import wx
from .wx_control import WXControl
from ...components.image_view import AbstractTkImag... | [
"#------------------------------------------------------------------------------\n# Copyright (c) 2011, Enthought, Inc.\n# All rights reserved.\n#------------------------------------------------------------------------------\nimport wx\n\nfrom .wx_control import WXControl\n\nfrom ...components.image_view import A... | false |
5,162 | 22d3ff0fca9a5537da37bfbc968d83ec6f919752 | #!/usr/bin/env python2
## -*- coding: utf-8 -*-
import sys
def sx(bits, value):
sign_bit = 1 << (bits - 1)
return (value & (sign_bit - 1)) - (value & sign_bit)
SymVar_0 = int(sys.argv[1])
ref_263 = SymVar_0
ref_278 = ref_263 # MOV operation
ref_5710 = ref_278 # MOV operation
ref_5786 = ref_5710 # MOV operati... | [
"#!/usr/bin/env python2\n## -*- coding: utf-8 -*-\n\nimport sys\n\ndef sx(bits, value):\n sign_bit = 1 << (bits - 1)\n return (value & (sign_bit - 1)) - (value & sign_bit)\n\nSymVar_0 = int(sys.argv[1])\nref_263 = SymVar_0\nref_278 = ref_263 # MOV operation\nref_5710 = ref_278 # MOV operation\nref_5786 = ref_... | true |
5,163 | 585c0f89605f1d791b449f42412174f06d0c5db5 | # -*- coding: utf-8 -*-
# !/usr/bin/python
import re
import sys
import xlwt
import os
'''
python logcat_time.py config_file logcat_file
'''
config_file = sys.argv[1]
logcat_file = sys.argv[2]
turns_time = 0
turn_compelete_flag = 0
def get_filePath_fileName_fileExt(filename):
(filepath, tempfilename) = os.path.s... | [
"# -*- coding: utf-8 -*-\n# !/usr/bin/python\nimport re\nimport sys\nimport xlwt\nimport os\n\n'''\npython logcat_time.py config_file logcat_file\n'''\n\nconfig_file = sys.argv[1]\nlogcat_file = sys.argv[2]\n\nturns_time = 0\nturn_compelete_flag = 0\n\ndef get_filePath_fileName_fileExt(filename):\n (filepath, te... | true |
5,164 | 4c6b04716f41c3413896f0d59f2cc9b1475d7f64 | from tkinter import*
from tkinter import filedialog
import sqlite3
class Gui:
def __init__(self):
global en3
self.scr = Tk()
self.scr.geometry("2000x3000")
self.scr.title("VIEWING DATABASE")
self.connection = sqlite3.connect("student_details.db")
... | [
"from tkinter import*\r\nfrom tkinter import filedialog\r\nimport sqlite3\r\n\r\nclass Gui:\r\n def __init__(self):\r\n global en3\r\n self.scr = Tk()\r\n self.scr.geometry(\"2000x3000\")\r\n self.scr.title(\"VIEWING DATABASE\")\r\n self.connection = sqlite3.c... | false |
5,165 | cd9b04a93d85ba0ee2a38b534386f9aec0ef6895 | import httplib
import sys
http_server = "localhost:8000"
connection = httplib.HTTPConnection(http_server)
# Open test input.
test_file_path = "test_input"
test_f = open(test_file_path)
inputs = test_f.readlines()
inputs = [x.strip() for x in inputs]
test_f.close()
# Open expected input.
expected_file_path = "expect... | [
"import httplib\nimport sys\n\nhttp_server = \"localhost:8000\"\nconnection = httplib.HTTPConnection(http_server)\n\n# Open test input. \ntest_file_path = \"test_input\"\ntest_f = open(test_file_path)\ninputs = test_f.readlines()\ninputs = [x.strip() for x in inputs]\ntest_f.close()\n\n# Open expected input.\nexpec... | false |
5,166 | 5b3a6b44bd9ea80da1983d8254c73bba3e2338e1 | from django.conf.urls import url
from cart import views
urlpatterns=[
url(r'^add/$',views.cart_add,name='add'),#t添加购物车数据
url(r'^count/$',views.cart_count,name='count'),#huo获取购物车商品数量
url(r'^del/$',views.cart_del,name='delete'),#删除购物车商品记录
url(r'update/$',views.cart_update,name='update'),#更新购物车商品数目
u... | [
"from django.conf.urls import url \nfrom cart import views\n\nurlpatterns=[\n url(r'^add/$',views.cart_add,name='add'),#t添加购物车数据\n url(r'^count/$',views.cart_count,name='count'),#huo获取购物车商品数量\n url(r'^del/$',views.cart_del,name='delete'),#删除购物车商品记录\n url(r'update/$',views.cart_update,name='update'),#更新购... | false |
5,167 | 874fa2a6afdd04f3f2232a86f56d220447160ede | # cases where DictAchievement should unlock
# >> CASE
{'name': 'John Doe', 'age': 24}
# >> CASE
{
'name': 'John Doe',
'age': 24
}
# >> CASE
func({'name': 'John Doe', 'age': 24})
| [
"# cases where DictAchievement should unlock\n\n# >> CASE\n{'name': 'John Doe', 'age': 24}\n\n# >> CASE\n{\n 'name': 'John Doe',\n 'age': 24\n}\n\n# >> CASE\nfunc({'name': 'John Doe', 'age': 24})\n",
"{'name': 'John Doe', 'age': 24}\n{'name': 'John Doe', 'age': 24}\nfunc({'name': 'John Doe', 'age': 24})\n",... | false |
5,168 | ace7e5676fcb01c3542952eaacdada9963b8467a | import sgc
import multiprocessing as mp
# import json
import argparse
import os
import re
#Process argument passed to the script
parser = argparse.ArgumentParser(description='Execute commands parallel on remote servers')
parser.add_argument('-f', action='store', required=True, dest='file', help='servers list')
group... | [
"import sgc\nimport multiprocessing as mp\n# import json\nimport argparse\nimport os\nimport re\n\n\n\n#Process argument passed to the script\nparser = argparse.ArgumentParser(description='Execute commands parallel on remote servers')\nparser.add_argument('-f', action='store', required=True, dest='file', help='serv... | false |
5,169 | 86ec33393bb19ee432c30834ea7983b11f4d1234 | import scraperwiki
import xlrd
xlbin = scraperwiki.scrape("http://www.whatdotheyknow.com/request/82804/response/208592/attach/2/ACCIDENTS%20TRAMS%20Laurderdale.xls")
book = xlrd.open_workbook(file_contents=xlbin)
sheet = book.sheet_by_index(0)
for n, s in enumerate(book.sheets()):
print "Sheet %d is called %s and... | [
"import scraperwiki\nimport xlrd\nxlbin = scraperwiki.scrape(\"http://www.whatdotheyknow.com/request/82804/response/208592/attach/2/ACCIDENTS%20TRAMS%20Laurderdale.xls\")\nbook = xlrd.open_workbook(file_contents=xlbin)\n\nsheet = book.sheet_by_index(0)\n\nfor n, s in enumerate(book.sheets()):\n print \"Sheet %d ... | true |
5,170 | efe2d6f5da36679b77de32d631cca50c2c1dd29e | import numpy as np
from .build_processing_chain import build_processing_chain
from collections import namedtuple
from pprint import pprint
def run_one_dsp(tb_data, dsp_config, db_dict=None, fom_function=None, verbosity=0):
"""
Run one iteration of DSP on tb_data
Optionally returns a value for optimizati... | [
"import numpy as np\nfrom .build_processing_chain import build_processing_chain\nfrom collections import namedtuple\nfrom pprint import pprint\n\n\ndef run_one_dsp(tb_data, dsp_config, db_dict=None, fom_function=None, verbosity=0):\n \"\"\"\n Run one iteration of DSP on tb_data \n\n Optionally returns a va... | false |
5,171 | 89c44d35559504501e4333ea6ff4d3528f1a4c4f | from django.contrib import admin
from .models import Profile
from django.contrib.admin.templatetags.admin_list import admin_actions
admin.site.register(Profile)
# Register your models here.
| [
"from django.contrib import admin\nfrom .models import Profile\nfrom django.contrib.admin.templatetags.admin_list import admin_actions\n\nadmin.site.register(Profile)\n# Register your models here.\n",
"from django.contrib import admin\nfrom .models import Profile\nfrom django.contrib.admin.templatetags.admin_list... | false |
5,172 | 511ea9eb1dc234a488c19f9ee9fbd40f81955d54 | from __future__ import print_function # Python 2/3 compatibility
import boto3
import json
import decimal
AWS_KEY = '****'
AWS_SECRET = '****'
def handler(event, context):
dynamodb = boto3.resource('dynamodb', region_name='us-west-2', aws_access_key_id=AWS_KEY , aws_secret_access_key=AWS_SECRET)
table = dynamo... | [
"from __future__ import print_function # Python 2/3 compatibility\nimport boto3\nimport json\nimport decimal\n\nAWS_KEY = '****'\nAWS_SECRET = '****'\n\ndef handler(event, context):\n dynamodb = boto3.resource('dynamodb', region_name='us-west-2', aws_access_key_id=AWS_KEY , aws_secret_access_key=AWS_SECRET)\n ... | false |
5,173 | ad44e9411ba6a07c54bb55b0d8af9d0c16c6b71b | """
Python wrapper that connects CPython interpreter to the numba dictobject.
"""
from collections import MutableMapping
from numba.types import DictType, TypeRef
from numba import njit, dictobject, types, cgutils
from numba.extending import (
overload_method,
box,
unbox,
NativeValue
)
@njit
def _mak... | [
"\"\"\"\nPython wrapper that connects CPython interpreter to the numba dictobject.\n\"\"\"\nfrom collections import MutableMapping\n\nfrom numba.types import DictType, TypeRef\nfrom numba import njit, dictobject, types, cgutils\nfrom numba.extending import (\n overload_method,\n box,\n unbox,\n NativeVa... | false |
5,174 | 9e2af13a15a98702981e9ee369c3a132f61eac86 | #!python
# -*- coding: utf-8 -*-
from PyQt4.QtCore import *
from PyQt4.QtGui import *
from window.window import *
import sys
app = QtGui.QApplication(sys.argv)
window = MainWindow()
window.show()
sys.exit(app.exec_()) | [
"#!python\n# -*- coding: utf-8 -*-\n\nfrom PyQt4.QtCore import *\nfrom PyQt4.QtGui import *\n\nfrom window.window import *\nimport sys\n\n\napp = QtGui.QApplication(sys.argv)\nwindow = MainWindow()\nwindow.show()\nsys.exit(app.exec_())",
"from PyQt4.QtCore import *\nfrom PyQt4.QtGui import *\nfrom window.window i... | false |
5,175 | 7484bd9012bc9952b679073ae036de4554d362be | from django import forms
from .models import Recipe, Ingredient, Category, Tag
from blog.widgets import CustomClearableFileInput
class NewCategoriesForm(forms.ModelForm):
friendly_name = forms.CharField(label='... or add your own category',
required=False)
class Meta():
... | [
"from django import forms\nfrom .models import Recipe, Ingredient, Category, Tag\nfrom blog.widgets import CustomClearableFileInput\n\n\nclass NewCategoriesForm(forms.ModelForm):\n\n friendly_name = forms.CharField(label='... or add your own category',\n required=False)\n\n ... | false |
5,176 | 27ec06d084bf819383801be0351c04e7d1fc1752 | #Las listas son similares a las tuplas
# con la diferencia de que permiten modificar los datos una vez creados
miLista = ['cadena', 21, 2.8, 'nuevo dato', 25]
print (miLista)
miLista[2] = 3.8 #el tercer elemento ahora es 3.8
print(miLista)
miLista.append('NuevoDato')
print(miLista)
| [
"#Las listas son similares a las tuplas\n# con la diferencia de que permiten modificar los datos una vez creados\nmiLista = ['cadena', 21, 2.8, 'nuevo dato', 25]\nprint (miLista)\nmiLista[2] = 3.8 #el tercer elemento ahora es 3.8\nprint(miLista)\nmiLista.append('NuevoDato')\nprint(miLista)\n",
"miLista = ['cadena... | false |
5,177 | b13d4b0ccb693fb97befb4ee47974d8ee076b52b | #!/usr/bin/env python
# -*- coding: utf-8 -*-
__author__ = 'Eric Pascual'
from tornado.web import RequestHandler
import os
class UIHandler(RequestHandler):
def get_template_args(self):
return {
'app_title':"Capteurs de lumière et de couleur"
}
def get(self, *args, **kwargs):
... | [
"#!/usr/bin/env python\n# -*- coding: utf-8 -*-\n\n__author__ = 'Eric Pascual'\n\nfrom tornado.web import RequestHandler\nimport os\n\nclass UIHandler(RequestHandler):\n def get_template_args(self):\n return {\n 'app_title':\"Capteurs de lumière et de couleur\"\n }\n\n def get(self, *... | false |
5,178 | 8a3694f96203ae8d1e306e1c9a5a47bfe26abeb1 | # -*- coding: utf-8 -*-
from django.shortcuts import render_to_response
from django.views.generic import TemplateView
from django.core.context_processors import csrf
from django.template import RequestContext
from django.views.generic import DetailView, ListView , CreateView , UpdateView , DeleteView , FormView , View
... | [
"# -*- coding: utf-8 -*-\nfrom django.shortcuts import render_to_response\nfrom django.views.generic import TemplateView\nfrom django.core.context_processors import csrf\nfrom django.template import RequestContext\nfrom django.views.generic import DetailView, ListView , CreateView , UpdateView , DeleteView , FormVi... | false |
5,179 | f1c6340880b52ba86856913f74c7d589d9b49f49 | #!/usr/bin/env python3
import warnings
import config
import numpy as np
from latplan.model import ActionAE, default_networks
from latplan.util import curry
from latplan.util.tuning import grid_search, nn_task
import keras.backend as K
import tensorflow as tf
float_formatter = lambda x: "%.3f" % x
np.set_printo... | [
"#!/usr/bin/env python3\nimport warnings\nimport config\nimport numpy as np\nfrom latplan.model import ActionAE, default_networks\nfrom latplan.util import curry\nfrom latplan.util.tuning import grid_search, nn_task\n\nimport keras.backend as K\nimport tensorflow as tf\n\nfloat_formatter = lambda x: \"%.3f\"... | false |
5,180 | 5a1c4cc572431f89709d20296d43e8d889e8c5b0 | Dict={0:0, 1:1}
def fibo(n):
if n not in Dict:
val=fibo(n-1)+fibo(n-2)
Dict[n]=val
return Dict[n]
n=int(input("Enter the value of n:"))
print("Fibonacci(", n,")= ", fibo(n))
# uncomment to take input from the user
nterms = int(input("How many terms? "))
# check if the number of terms is valid
... | [
"Dict={0:0, 1:1}\ndef fibo(n):\n if n not in Dict:\n val=fibo(n-1)+fibo(n-2)\n Dict[n]=val\n return Dict[n]\nn=int(input(\"Enter the value of n:\"))\nprint(\"Fibonacci(\", n,\")= \", fibo(n))\n\n# uncomment to take input from the user\nnterms = int(input(\"How many terms? \"))\n\n# check if the ... | true |
5,181 | a4dfac7e15064d92c806a4e3f972f06e4dca6b11 | # maze = [0, 3, 0, 1, -3]
with open('./day_5/input.txt') as f:
maze = f.readlines()
f.close
maze = [int(line.strip()) for line in maze]
# I think I will just expand on the original functions
# from now on rather than separating part one from two
def escape_maze(maze):
end = len(maze) - 1
step_counter = 0
... | [
"# maze = [0, 3, 0, 1, -3]\nwith open('./day_5/input.txt') as f:\n maze = f.readlines()\nf.close\nmaze = [int(line.strip()) for line in maze]\n\n# I think I will just expand on the original functions\n# from now on rather than separating part one from two\ndef escape_maze(maze):\n end = len(maze) - 1\n ste... | false |
5,182 | 5c01b83634b7ae9bc691341d7432a4e59617444c | #!/usr/bin/python
# Classification (U)
"""Program: elasticsearchrepo_create_repo.py
Description: Unit testing of create_repo in
elastic_class.ElasticSearchRepo class.
Usage:
test/unit/elastic_class/elasticsearchrepo_create_repo.py
Arguments:
"""
# Libraries and Global Variables
# St... | [
"#!/usr/bin/python\n# Classification (U)\n\n\"\"\"Program: elasticsearchrepo_create_repo.py\n\n Description: Unit testing of create_repo in\n elastic_class.ElasticSearchRepo class.\n\n Usage:\n test/unit/elastic_class/elasticsearchrepo_create_repo.py\n\n Arguments:\n\n\"\"\"\n\n# Libraries ... | false |
5,183 | ff53a549222b0d5e2fcb518c1e44b656c45ce76e | from rest_framework import status
from rest_framework.response import Response
from rest_framework.decorators import api_view, permission_classes
from rest_framework.permissions import IsAuthenticated
from playlist.models import Song, AccountSong, Genre, AccountGenre
from account.models import Account
from play... | [
"from rest_framework import status\r\nfrom rest_framework.response import Response\r\nfrom rest_framework.decorators import api_view, permission_classes\r\nfrom rest_framework.permissions import IsAuthenticated\r\n\r\nfrom playlist.models import Song, AccountSong, Genre, AccountGenre\r\nfrom account.models import A... | false |
5,184 | be279fe44b0d52c9d473e08d8b9c28d5b6386b45 | # -*- coding: utf-8 -*-
from __future__ import print_function
import os
import sys
from dkfileutils.path import Path
def line_endings(fname):
"""Return all line endings in the file.
"""
_endings = {line[-2:] for line in open(fname, 'rb').readlines()}
res = set()
for e in _endings:
if e.en... | [
"# -*- coding: utf-8 -*-\nfrom __future__ import print_function\nimport os\nimport sys\n\nfrom dkfileutils.path import Path\n\n\ndef line_endings(fname):\n \"\"\"Return all line endings in the file.\n \"\"\"\n _endings = {line[-2:] for line in open(fname, 'rb').readlines()}\n res = set()\n for e in _... | false |
5,185 | d78ac5188cad104ee1b3e214898c41f843b6d8c0 | from sklearn.preprocessing import RobustScaler
from statsmodels.tsa.arima.model import ARIMA
from sklearn.metrics import mean_squared_error, r2_score, mean_absolute_error
from math import sqrt
import tensorflow as tf
import pandas as pd
import numpy as np
import os
import random
# set random seed
random.seed(1)
np.ra... | [
"from sklearn.preprocessing import RobustScaler\nfrom statsmodels.tsa.arima.model import ARIMA\nfrom sklearn.metrics import mean_squared_error, r2_score, mean_absolute_error\nfrom math import sqrt\n\nimport tensorflow as tf\nimport pandas as pd\nimport numpy as np\nimport os\nimport random\n\n# set random seed\nran... | false |
5,186 | e5921edef3d3c56a73f2674f483ea4d1f3577629 | """
Copyright (c) 2017 Cyberhaven
Copyright (c) 2017 Dependable Systems Laboratory, EPFL
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the right... | [
"\"\"\"\nCopyright (c) 2017 Cyberhaven\nCopyright (c) 2017 Dependable Systems Laboratory, EPFL\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limi... | false |
5,187 | 1152f144e17c11416f9ed56b4408f18615b16dc2 | from eums.test.api.api_test_helpers import create_option
from eums.test.factories.question_factory import MultipleChoiceQuestionFactory
from eums.test.api.authenticated_api_test_case import AuthenticatedAPITestCase
from eums.test.config import BACKEND_URL
from eums.models.question import MultipleChoiceQuestion
ENDPOI... | [
"from eums.test.api.api_test_helpers import create_option\nfrom eums.test.factories.question_factory import MultipleChoiceQuestionFactory\nfrom eums.test.api.authenticated_api_test_case import AuthenticatedAPITestCase\nfrom eums.test.config import BACKEND_URL\nfrom eums.models.question import MultipleChoiceQuestion... | false |
5,188 | 0dd5511c0e39f113c46785be78a898e79bc45a21 | import pygame
import os
import random
#Vx = float(input("Input Vx : "))
#Vy = float(input("Input Vy : "))
Vx = 20
Vy = 20
#GEOMETRY
screen_width = 1000
screen_height = 600
FPS = 30
#COLOR
BLUE = (0, 0, 255)
BLACK = (0, 0, 0)
GREEN = (204, 153, 255)
RED = (255, 0, 0)
WHITE = (155, 25, 0)
colorLi... | [
"import pygame\r\nimport os\r\nimport random\r\n\r\n\r\n#Vx = float(input(\"Input Vx : \"))\r\n#Vy = float(input(\"Input Vy : \"))\r\nVx = 20\r\nVy = 20\r\n\r\n#GEOMETRY\r\nscreen_width = 1000\r\nscreen_height = 600\r\nFPS = 30\r\n\r\n#COLOR\r\nBLUE = (0, 0, 255)\r\nBLACK = (0, 0, 0)\r\nGREEN = (204, 153, 255)\r\nR... | false |
5,189 | cca1a491e2a48b4b0c7099a6c54e528158ef30bb | #!/usr/bin/python
import sys, os, glob, numpy
wd = os.path.dirname(os.path.realpath(__file__))
sys.path.append(wd + '/python_speech_features')
from features import mfcc, logfbank
import scipy.io.wavfile as wav
DIR = '/home/quiggles/Desktop/513music/single-genre/classify-me/subset'
OUTDIR = wd + '/songdata/subset'
#... | [
"#!/usr/bin/python\n\nimport sys, os, glob, numpy\nwd = os.path.dirname(os.path.realpath(__file__))\nsys.path.append(wd + '/python_speech_features')\nfrom features import mfcc, logfbank\nimport scipy.io.wavfile as wav\n\nDIR = '/home/quiggles/Desktop/513music/single-genre/classify-me/subset'\nOUTDIR = wd + '/songda... | false |
5,190 | 3c22fbfd7d83ff3ecacabc3c88af2169fa5906b9 | """ [BBC] Web Scraper """
import os
from .abstract_crawler import AbstractWebCrawler
class BBCCrawler(AbstractWebCrawler):
""" [BBC] Web Scraper """
# Spider Properties
name = "web_bbc"
# Crawler Properties
resource_link = 'http://www.bbc.com/news/topics/cz4pr2gd85qt/cyber-security'
resourc... | [
"\"\"\" [BBC] Web Scraper \"\"\"\n\nimport os\nfrom .abstract_crawler import AbstractWebCrawler\n\n\nclass BBCCrawler(AbstractWebCrawler):\n \"\"\" [BBC] Web Scraper \"\"\"\n\n # Spider Properties\n name = \"web_bbc\"\n\n # Crawler Properties\n resource_link = 'http://www.bbc.com/news/topics/cz4pr2gd... | false |
5,191 | 92b22ea23ad0cf4e16c7d19d055b7ec152ca433a | from scheme import *
from tests.util import *
class TestDateTime(FieldTestCase):
def test_instantiation(self):
with self.assertRaises(TypeError):
DateTime(minimum=True)
with self.assertRaises(TypeError):
DateTime(maximum=True)
def test_processing(self):
field =... | [
"from scheme import *\nfrom tests.util import *\n\nclass TestDateTime(FieldTestCase):\n def test_instantiation(self):\n with self.assertRaises(TypeError):\n DateTime(minimum=True)\n\n with self.assertRaises(TypeError):\n DateTime(maximum=True)\n\n def test_processing(self):... | false |
5,192 | cf6dffb28e37003212d3e3402dee58a57a7d9869 | from __future__ import print_function, absolute_import, division
import os
import h5py
import glob
import copy
import numpy as np
from tqdm import tqdm
# from utils.pose import draw_skeleton
from matplotlib import pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import poseutils.camera_utils as cameras
from pose... | [
"from __future__ import print_function, absolute_import, division\n\nimport os\nimport h5py\nimport glob\nimport copy\nimport numpy as np\nfrom tqdm import tqdm\n\n# from utils.pose import draw_skeleton\nfrom matplotlib import pyplot as plt\nfrom mpl_toolkits.mplot3d import Axes3D\nimport poseutils.camera_utils as ... | false |
5,193 | d99278c8f539322fd83ae5459c3121effc044b88 | from trapezoidal import trapezoidal
from midpoint import midpoint
from math import pi, sin
def integrate_sine(f, a, b, n = 2):
I_t = trapezoidal(f, a, b, n)
I_m = midpoint()
return None
a = 0.0; b = pi
f = lambda x: sin(x) | [
"from trapezoidal import trapezoidal\r\nfrom midpoint import midpoint\r\nfrom math import pi, sin\r\n\r\ndef integrate_sine(f, a, b, n = 2):\r\n\tI_t = trapezoidal(f, a, b, n)\r\n\tI_m = midpoint()\r\n\treturn None\r\n\r\na = 0.0; b = pi\r\nf = lambda x: sin(x)",
"from trapezoidal import trapezoidal\nfrom midpoin... | false |
5,194 | b8e18877af990c533c642d4937354198a4676419 | """autogenerated by genpy from arm_navigation_msgs/GetPlanningSceneRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import arm_navigation_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
import genpy
import sensor_msgs.msg
class GetPlanni... | [
"\"\"\"autogenerated by genpy from arm_navigation_msgs/GetPlanningSceneRequest.msg. Do not edit.\"\"\"\nimport sys\npython3 = True if sys.hexversion > 0x03000000 else False\nimport genpy\nimport struct\n\nimport arm_navigation_msgs.msg\nimport geometry_msgs.msg\nimport std_msgs.msg\nimport genpy\nimport sensor_msgs... | false |
5,195 | 37feeba8ff682e5998fde4bcba8c37043cb593f2 | # coding=utf-8
from smallinvoice.commons import BaseJsonEncodableObject, BaseService
class Catalog(BaseJsonEncodableObject):
def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):
self.type = catalog_type
self.unit = unit
self.name = name
self.cost_per_unit = cost_per_... | [
"# coding=utf-8\nfrom smallinvoice.commons import BaseJsonEncodableObject, BaseService\n\n\nclass Catalog(BaseJsonEncodableObject):\n def __init__(self, catalog_type, unit, name, cost_per_unit, vat=0):\n self.type = catalog_type\n self.unit = unit\n self.name = name\n self.cost_per_un... | false |
5,196 | d65d85b4573728ed32ccf987459d5a228e2a8897 | # Generated by Django 3.1.7 on 2021-04-16 14:03
from django.db import migrations, models
class Migration(migrations.Migration):
initial = True
dependencies = [
]
operations = [
migrations.CreateModel(
name='AuditLog',
fields=[
('id', models.AutoField... | [
"# Generated by Django 3.1.7 on 2021-04-16 14:03\n\nfrom django.db import migrations, models\n\n\nclass Migration(migrations.Migration):\n\n initial = True\n\n dependencies = [\n ]\n\n operations = [\n migrations.CreateModel(\n name='AuditLog',\n fields=[\n ('... | false |
5,197 | 90f5629ac48edfccea57243ffb6188a98123367d | from nltk.corpus import stopwords
from nltk.tokenize import word_tokenize
#Print Stop words
stop_words = set(stopwords.words("english"))
print(stop_words)
example_text = "This is general sentence to just clarify if stop words are working or not. I have some awesome projects coming up"
words = word_tokenize(... | [
"from nltk.corpus import stopwords\r\nfrom nltk.tokenize import word_tokenize\r\n\r\n#Print Stop words\r\nstop_words = set(stopwords.words(\"english\"))\r\nprint(stop_words)\r\n\r\nexample_text = \"This is general sentence to just clarify if stop words are working or not. I have some awesome projects coming up\"\r\... | true |
5,198 | 16074fc1824a99b6fd1c4bf113d5b752308e8803 | from sqlalchemy.orm import sessionmaker
from IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table
class ScrapySpiderPipeline(object):
# Bu Fonksiyon Veritabanı bağlantısını ve oturum oluşturucuyu başlatır ve bir İlişkisel Veritabanı tablosu oluşturur.
def __init__(self):
en... | [
"from sqlalchemy.orm import sessionmaker\nfrom IMDB.spiders.models import IMDB_DATABASE, db_connect, create_table\n\n\nclass ScrapySpiderPipeline(object):\n \n # Bu Fonksiyon Veritabanı bağlantısını ve oturum oluşturucuyu başlatır ve bir İlişkisel Veritabanı tablosu oluşturur.\n def __init__(self):\n ... | false |
5,199 | 421b0c1871350ff541b4e56d1e18d77016884552 | # -*- coding: utf-8 -*-
"""Transcoder with TOSHIBA RECAIUS API."""
import threading
import queue
import time
import numpy as np
from logzero import logger
import requests
import model.key
AUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'
VOICE_URL = 'https://api.recaius.jp/asr/v2/voices'
class Transcoder:
"""... | [
"# -*- coding: utf-8 -*-\n\"\"\"Transcoder with TOSHIBA RECAIUS API.\"\"\"\nimport threading\nimport queue\nimport time\n\nimport numpy as np\nfrom logzero import logger\nimport requests\n\nimport model.key\n\nAUTH_URL = 'https://api.recaius.jp/auth/v2/tokens'\nVOICE_URL = 'https://api.recaius.jp/asr/v2/voices'\n\n... | false |
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