# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from moveit_msgs/PickupGoal.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import genpy
import geometry_msgs.msg
import moveit_msgs.msg
import object_recognition_msgs.msg
import octomap_msgs.msg
import sensor_msgs.msg
import shape_msgs.msg
import std_msgs.msg
import trajectory_msgs.msg

class PickupGoal(genpy.Message):
  _md5sum = "458c6ab3761d73e99b070063f7b74c2a"
  _type = "moveit_msgs/PickupGoal"
  _has_header = False  # flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for picking up an object

# The name of the object to pick up (as known in the planning scene)
string target_name

# which group should be used to plan for pickup
string group_name

# which end-effector to be used for pickup (ideally descending from the group above)
string end_effector

# a list of possible grasps to be used. At least one grasp must be filled in
Grasp[] possible_grasps

# the name that the support surface (e.g. table) has in the collision map
# can be left empty if no name is available
string support_surface_name

# whether collisions between the gripper and the support surface should be acceptable
# during move from pre-grasp to grasp and during lift. Collisions when moving to the
# pre-grasp location are still not allowed even if this is set to true.
bool allow_gripper_support_collision

# The names of the links the object to be attached is allowed to touch;
# If this is left empty, it defaults to the links in the used end-effector
string[] attached_object_touch_links

# Optionally notify the pick action that it should approach the object further,
# as much as possible (this minimizing the distance to the object before the grasp)
# along the approach direction; Note: this option changes the grasping poses
# supplied in possible_grasps[] such that they are closer to the object when possible.
bool minimize_object_distance

# Optional constraints to be imposed on every point in the motion plan
Constraints path_constraints

# The name of the motion planner to use. If no name is specified,
# a default motion planner will be used
string planner_id

# an optional list of obstacles that we have semantic information about
# and that can be touched/pushed/moved in the course of grasping;
# CAREFUL: If the object name 'all' is used, collisions with all objects are disabled during the approach & lift.
string[] allowed_touch_objects

# The maximum amount of time the motion planner is allowed to plan for
float64 allowed_planning_time

# Planning options
PlanningOptions planning_options


================================================================================
MSG: moveit_msgs/Grasp
# This message contains a description of a grasp that would be used
# with a particular end-effector to grasp an object, including how to
# approach it, grip it, etc.  This message does not contain any
# information about a "grasp point" (a position ON the object).
# Whatever generates this message should have already combined
# information about grasp points with information about the geometry
# of the end-effector to compute the grasp_pose in this message.

# A name for this grasp
string id

# The internal posture of the hand for the pre-grasp
# only positions are used
trajectory_msgs/JointTrajectory pre_grasp_posture

# The internal posture of the hand for the grasp
# positions and efforts are used
trajectory_msgs/JointTrajectory grasp_posture

# The position of the end-effector for the grasp.  This is the pose of
# the "parent_link" of the end-effector, not actually the pose of any
# link *in* the end-effector.  Typically this would be the pose of the
# most distal wrist link before the hand (end-effector) links began.
geometry_msgs/PoseStamped grasp_pose

# The estimated probability of success for this grasp, or some other
# measure of how "good" it is.
float64 grasp_quality

# The approach direction to take before picking an object
GripperTranslation pre_grasp_approach

# The retreat direction to take after a grasp has been completed (object is attached)
GripperTranslation post_grasp_retreat

# The retreat motion to perform when releasing the object; this information
# is not necessary for the grasp itself, but when releasing the object,
# the information will be necessary. The grasp used to perform a pickup
# is returned as part of the result, so this information is available for 
# later use.
GripperTranslation post_place_retreat

# the maximum contact force to use while grasping (<=0 to disable)
float32 max_contact_force

# an optional list of obstacles that we have semantic information about
# and that can be touched/pushed/moved in the course of grasping
string[] allowed_touch_objects

================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id

================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
# Each trajectory point specifies either positions[, velocities[, accelerations]]
# or positions[, effort] for the trajectory to be executed.
# All specified values are in the same order as the joint names in JointTrajectory.msg

float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start

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

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

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

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

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: moveit_msgs/GripperTranslation
# defines a translation for the gripper, used in pickup or place tasks
# for example for lifting an object off a table or approaching the table for placing

# the direction of the translation
geometry_msgs/Vector3Stamped direction

# the desired translation distance
float32 desired_distance

# the min distance that must be considered feasible before the
# grasp is even attempted
float32 min_distance

================================================================================
MSG: geometry_msgs/Vector3Stamped
# This represents a Vector3 with reference coordinate frame and timestamp
Header header
Vector3 vector

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a 
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.

float64 x
float64 y
float64 z
================================================================================
MSG: moveit_msgs/Constraints
# This message contains a list of motion planning constraints.
# All constraints must be satisfied for a goal to be considered valid

string name

JointConstraint[] joint_constraints

PositionConstraint[] position_constraints

OrientationConstraint[] orientation_constraints

VisibilityConstraint[] visibility_constraints

================================================================================
MSG: moveit_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight
================================================================================
MSG: moveit_msgs/PositionConstraint
# This message contains the definition of a position constraint.

Header header

# The robot link this constraint refers to
string link_name

# The offset (in the link frame) for the target point on the link we are planning for
geometry_msgs/Vector3 target_point_offset

# The volume this constraint refers to 
BoundingVolume constraint_region

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/BoundingVolume
# Define a volume in 3D

# A set of solid geometric primitives that make up the volume to define (as a union)
shape_msgs/SolidPrimitive[] primitives

# The poses at which the primitives are located
geometry_msgs/Pose[] primitive_poses

# In addition to primitives, meshes can be specified to add to the bounding volume (again, as union)
shape_msgs/Mesh[] meshes

# The poses at which the meshes are located
geometry_msgs/Pose[] mesh_poses

================================================================================
MSG: shape_msgs/SolidPrimitive
# Define box, sphere, cylinder, cone 
# All shapes are defined to have their bounding boxes centered around 0,0,0.

uint8 BOX=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 CONE=4

# The type of the shape
uint8 type


# The dimensions of the shape
float64[] dimensions

# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array

# For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
# sides of the box.
uint8 BOX_X=0
uint8 BOX_Y=1
uint8 BOX_Z=2


# For the SPHERE type, only one component is used, and it gives the radius of
# the sphere.
uint8 SPHERE_RADIUS=0


# For the CYLINDER and CONE types, the center line is oriented along
# the Z axis.  Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
# of dimensions gives the height of the cylinder (cone).  The
# CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
# radius of the base of the cylinder (cone).  Cone and cylinder
# primitives are defined to be circular. The tip of the cone is
# pointing up, along +Z axis.

uint8 CYLINDER_HEIGHT=0
uint8 CYLINDER_RADIUS=1

uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1

================================================================================
MSG: shape_msgs/Mesh
# Definition of a mesh

# list of triangles; the index values refer to positions in vertices[]
MeshTriangle[] triangles

# the actual vertices that make up the mesh
geometry_msgs/Point[] vertices

================================================================================
MSG: shape_msgs/MeshTriangle
# Definition of a triangle's vertices
uint32[3] vertex_indices

================================================================================
MSG: moveit_msgs/OrientationConstraint
# This message contains the definition of an orientation constraint.

Header header

# The desired orientation of the robot link specified as a quaternion
geometry_msgs/Quaternion orientation

# The robot link this constraint refers to
string link_name

# optional axis-angle error tolerances specified
float64 absolute_x_axis_tolerance
float64 absolute_y_axis_tolerance
float64 absolute_z_axis_tolerance

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/VisibilityConstraint
# The constraint is useful to maintain visibility to a disc (the target) in a particular frame.
# This disc forms the base of a visibiliy cone whose tip is at the origin of the sensor.
# Maintaining visibility is done by ensuring the robot does not obstruct the visibility cone.
# Note:
# This constraint does NOT enforce minimum or maximum distances between the sensor
# and the target, nor does it enforce the target to be in the field of view of
# the sensor. A PositionConstraint can (and probably should) be used for such purposes.

# The radius of the disc that should be maintained visible 
float64 target_radius

# The pose of the disc; as the robot moves, the pose of the disc may change as well
# This can be in the frame of a particular robot link, for example
geometry_msgs/PoseStamped target_pose

# From the sensor origin towards the target, the disc forms a visibility cone
# This cone is approximated using many sides. For example, when using 4 sides, 
# that in fact makes the visibility region be a pyramid.
# This value should always be 3 or more.
int32 cone_sides

# The pose in which visibility is to be maintained.
# The frame id should represent the robot link to which the sensor is attached.
# It is assumed the sensor can look directly at the target, in any direction.
# This assumption is usually not true, but additional PositionConstraints
# can resolve this issue.
geometry_msgs/PoseStamped sensor_pose

# Even though the disc is maintained visible, the visibility cone can be very small
# because of the orientation of the disc with respect to the sensor. It is possible
# for example to view the disk almost from a side, in which case the visibility cone 
# can end up having close to 0 volume. The view angle is defined to be the angle between
# the normal to the visibility disc and the direction vector from the sensor origin.
# The value below represents the minimum desired view angle. For a perfect view,
# this value will be 0 (the two vectors are exact opposites). For a completely obstructed view
# this value will be Pi/2 (the vectors are perpendicular). This value defined below 
# is the maximum view angle to be maintained. This should be a value in the open interval
# (0, Pi/2). If 0 is set, the view angle is NOT enforced.
float64 max_view_angle

# This angle is used similarly to max_view_angle but limits the maximum angle
# between the sensor origin direction vector and the axis that connects the
# sensor origin to the target frame origin. The value is again in the range (0, Pi/2)
# and is NOT enforced if set to 0.
float64 max_range_angle

# The axis that is assumed to indicate the direction of view for the sensor
# X = 2, Y = 1, Z = 0
uint8 SENSOR_Z=0
uint8 SENSOR_Y=1
uint8 SENSOR_X=2
uint8 sensor_view_direction

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/PlanningOptions

# The diff to consider for the planning scene (optional)
PlanningScene planning_scene_diff

# If this flag is set to true, the action
# returns an executable plan in the response but does not attempt execution  
bool plan_only

# If this flag is set to true, the action of planning &
# executing is allowed to look around  (move sensors) if
# it seems that not enough information is available about
# the environment
bool look_around

# If this value is positive, the action of planning & executing
# is allowed to look around for a maximum number of attempts;
# If the value is left as 0, the default value is used, as set
# with dynamic_reconfigure
int32 look_around_attempts

# If set and if look_around is true, this value is used as
# the maximum cost allowed for a path to be considered executable.
# If the cost of a path is higher than this value, more sensing or 
# a new plan needed. If left as 0.0 but look_around is true, then 
# the default value set via dynamic_reconfigure is used
float64 max_safe_execution_cost

# If the plan becomes invalidated during execution, it is possible to have
# that plan recomputed and execution restarted. This flag enables this
# functionality 
bool replan

# The maximum number of replanning attempts 
int32 replan_attempts

# The amount of time to wait in between replanning attempts (in seconds)
float64 replan_delay

================================================================================
MSG: moveit_msgs/PlanningScene
# name of planning scene
string name

# full robot state
RobotState robot_state

# The name of the robot model this scene is for
string robot_model_name

#additional frames for duplicating tf (with respect to the planning frame)
geometry_msgs/TransformStamped[] fixed_frame_transforms

#full allowed collision matrix
AllowedCollisionMatrix allowed_collision_matrix

# all link paddings
LinkPadding[] link_padding

# all link scales
LinkScale[] link_scale

# Attached objects, collision objects, even the octomap or collision map can have 
# colors associated to them. This array specifies them.
ObjectColor[] object_colors

# the collision map
PlanningSceneWorld world

# Flag indicating whether this scene is to be interpreted as a diff with respect to some other scene
bool is_diff

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

# Joints that may have multiple DOF are specified here
sensor_msgs/MultiDOFJointState multi_dof_joint_state

# Attached collision objects (attached to some link on the robot)
AttachedCollisionObject[] attached_collision_objects

# Flag indicating whether this scene is to be interpreted as a diff with respect to some other scene
# This is mostly important for handling the attached bodies (whether or not to clear the attached bodies
# of a moveit::core::RobotState before updating it with this message)
bool is_diff

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


Header header

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

================================================================================
MSG: sensor_msgs/MultiDOFJointState
# Representation of state for joints with multiple degrees of freedom, 
# following the structure of JointState.
#
# It is assumed that a joint in a system corresponds to a transform that gets applied 
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)
# and those 3DOF can be expressed as a transformation matrix, and that transformation
# matrix can be converted back to (x, y, yaw)
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# wrench associated with them, you can leave the wrench array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.

Header header

string[] joint_names
geometry_msgs/Transform[] transforms
geometry_msgs/Twist[] twist
geometry_msgs/Wrench[] wrench

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

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque

================================================================================
MSG: moveit_msgs/AttachedCollisionObject
# The CollisionObject will be attached with a fixed joint to this link
string link_name

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

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

# If certain links were placed in a particular posture for this object to remain attached 
# (e.g., an end effector closing around an object), the posture necessary for releasing
# the object is stored here
trajectory_msgs/JointTrajectory detach_posture

# The weight of the attached object, if known
float64 weight

================================================================================
MSG: moveit_msgs/CollisionObject
# A header, used for interpreting the poses
Header header

# The id of the object (name used in MoveIt)
string id

# The object type in a database of known objects
object_recognition_msgs/ObjectType type

# The collision geometries associated with the object.
# Their poses are with respect to the specified header

# Solid geometric primitives
shape_msgs/SolidPrimitive[] primitives
geometry_msgs/Pose[] primitive_poses

# Meshes
shape_msgs/Mesh[] meshes
geometry_msgs/Pose[] mesh_poses

# Bounding planes (equation is specified, but the plane can be oriented using an additional pose)
shape_msgs/Plane[] planes
geometry_msgs/Pose[] plane_poses

# Adds the object to the planning scene. If the object previously existed, it is replaced.
byte ADD=0

# Removes the object from the environment entirely (everything that matches the specified id)
byte REMOVE=1

# Append to an object that already exists in the planning scene. If the object does not exist, it is added.
byte APPEND=2

# If an object already exists in the scene, new poses can be sent (the geometry arrays must be left empty)
# if solely moving the object is desired
byte MOVE=3

# Operation to be performed
byte operation

================================================================================
MSG: object_recognition_msgs/ObjectType
################################################## OBJECT ID #########################################################

# Contains information about the type of a found object. Those two sets of parameters together uniquely define an
# object

# The key of the found object: the unique identifier in the given db
string key

# The db parameters stored as a JSON/compressed YAML string. An object id does not make sense without the corresponding
# database. E.g., in object_recognition, it can look like: "{'type':'CouchDB', 'root':'http://localhost'}"
# There is no conventional format for those parameters and it's nice to keep that flexibility.
# The object_recognition_core as a generic DB type that can read those fields
# Current examples:
# For CouchDB:
#   type: 'CouchDB'
#   root: 'http://localhost:5984'
#   collection: 'object_recognition'
# For SQL household database:
#   type: 'SqlHousehold'
#   host: 'wgs36'
#   port: 5432
#   user: 'willow'
#   password: 'willow'
#   name: 'household_objects'
#   module: 'tabletop'
string db

================================================================================
MSG: shape_msgs/Plane
# Representation of a plane, using the plane equation ax + by + cz + d = 0

# a := coef[0]
# b := coef[1]
# c := coef[2]
# d := coef[3]

float64[4] coef

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

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

================================================================================
MSG: moveit_msgs/AllowedCollisionMatrix
# The list of entry names in the matrix
string[] entry_names

# The individual entries in the allowed collision matrix
# square, symmetric, with same order as entry_names
AllowedCollisionEntry[] entry_values

# In addition to the collision matrix itself, we also have 
# the default entry value for each entry name.

# If the allowed collision flag is queried for a pair of names (n1, n2)
# that is not found in the collision matrix itself, the value of
# the collision flag is considered to be that of the entry (n1 or n2)
# specified in the list below. If both n1 and n2 are found in the list 
# of defaults, the result is computed with an AND operation

string[] default_entry_names
bool[] default_entry_values

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

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

# padding to apply to the link
float64 padding

================================================================================
MSG: moveit_msgs/LinkScale
#name for the link
string link_name

# scaling to apply to the link
float64 scale

================================================================================
MSG: moveit_msgs/ObjectColor
# The object id for which we specify color
string id

# The value of the color
std_msgs/ColorRGBA color

================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

================================================================================
MSG: moveit_msgs/PlanningSceneWorld
# collision objects
CollisionObject[] collision_objects

# The octomap that represents additional collision data
octomap_msgs/OctomapWithPose octomap

================================================================================
MSG: octomap_msgs/OctomapWithPose
# A 3D map in binary format, as Octree
Header header

# The pose of the octree with respect to the header frame 
geometry_msgs/Pose origin

# The actual octree msg
octomap_msgs/Octomap octomap

================================================================================
MSG: octomap_msgs/Octomap
# A 3D map in binary format, as Octree
Header header

# Flag to denote a binary (only free/occupied) or full occupancy octree (.bt/.ot file)
bool binary

# Class id of the contained octree 
string id

# Resolution (in m) of the smallest octree nodes
float64 resolution

# binary serialization of octree, use conversions.h to read and write octrees
int8[] data
"""
  __slots__ = ['target_name','group_name','end_effector','possible_grasps','support_surface_name','allow_gripper_support_collision','attached_object_touch_links','minimize_object_distance','path_constraints','planner_id','allowed_touch_objects','allowed_planning_time','planning_options']
  _slot_types = ['string','string','string','moveit_msgs/Grasp[]','string','bool','string[]','bool','moveit_msgs/Constraints','string','string[]','float64','moveit_msgs/PlanningOptions']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       target_name,group_name,end_effector,possible_grasps,support_surface_name,allow_gripper_support_collision,attached_object_touch_links,minimize_object_distance,path_constraints,planner_id,allowed_touch_objects,allowed_planning_time,planning_options

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PickupGoal, self).__init__(*args, **kwds)
      # message fields cannot be None, assign default values for those that are
      if self.target_name is None:
        self.target_name = ''
      if self.group_name is None:
        self.group_name = ''
      if self.end_effector is None:
        self.end_effector = ''
      if self.possible_grasps is None:
        self.possible_grasps = []
      if self.support_surface_name is None:
        self.support_surface_name = ''
      if self.allow_gripper_support_collision is None:
        self.allow_gripper_support_collision = False
      if self.attached_object_touch_links is None:
        self.attached_object_touch_links = []
      if self.minimize_object_distance is None:
        self.minimize_object_distance = False
      if self.path_constraints is None:
        self.path_constraints = moveit_msgs.msg.Constraints()
      if self.planner_id is None:
        self.planner_id = ''
      if self.allowed_touch_objects is None:
        self.allowed_touch_objects = []
      if self.allowed_planning_time is None:
        self.allowed_planning_time = 0.
      if self.planning_options is None:
        self.planning_options = moveit_msgs.msg.PlanningOptions()
    else:
      self.target_name = ''
      self.group_name = ''
      self.end_effector = ''
      self.possible_grasps = []
      self.support_surface_name = ''
      self.allow_gripper_support_collision = False
      self.attached_object_touch_links = []
      self.minimize_object_distance = False
      self.path_constraints = moveit_msgs.msg.Constraints()
      self.planner_id = ''
      self.allowed_touch_objects = []
      self.allowed_planning_time = 0.
      self.planning_options = moveit_msgs.msg.PlanningOptions()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self.target_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.group_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.end_effector
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.possible_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.possible_grasps:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v1 = val1.pre_grasp_posture
        _v2 = _v1.header
        _x = _v2.seq
        buff.write(_get_struct_I().pack(_x))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v2.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v1.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v1.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v4 = val3.time_from_start
          _x = _v4
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v5 = val1.grasp_posture
        _v6 = _v5.header
        _x = _v6.seq
        buff.write(_get_struct_I().pack(_x))
        _v7 = _v6.stamp
        _x = _v7
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v6.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v5.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v5.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v5.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v5.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v8 = val3.time_from_start
          _x = _v8
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v9 = val1.grasp_pose
        _v10 = _v9.header
        _x = _v10.seq
        buff.write(_get_struct_I().pack(_x))
        _v11 = _v10.stamp
        _x = _v11
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v10.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v12 = _v9.pose
        _v13 = _v12.position
        _x = _v13
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v14 = _v12.orientation
        _x = _v14
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.grasp_quality
        buff.write(_get_struct_d().pack(_x))
        _v15 = val1.pre_grasp_approach
        _v16 = _v15.direction
        _v17 = _v16.header
        _x = _v17.seq
        buff.write(_get_struct_I().pack(_x))
        _v18 = _v17.stamp
        _x = _v18
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v17.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v19 = _v16.vector
        _x = _v19
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v15
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v20 = val1.post_grasp_retreat
        _v21 = _v20.direction
        _v22 = _v21.header
        _x = _v22.seq
        buff.write(_get_struct_I().pack(_x))
        _v23 = _v22.stamp
        _x = _v23
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v22.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v24 = _v21.vector
        _x = _v24
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v20
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v25 = val1.post_place_retreat
        _v26 = _v25.direction
        _v27 = _v26.header
        _x = _v27.seq
        buff.write(_get_struct_I().pack(_x))
        _v28 = _v27.stamp
        _x = _v28
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v27.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v29 = _v26.vector
        _x = _v29
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v25
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _x = val1.max_contact_force
        buff.write(_get_struct_f().pack(_x))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
      _x = self.support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.allow_gripper_support_collision
      buff.write(_get_struct_B().pack(_x))
      length = len(self.attached_object_touch_links)
      buff.write(_struct_I.pack(length))
      for val1 in self.attached_object_touch_links:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.minimize_object_distance
      buff.write(_get_struct_B().pack(_x))
      _x = self.path_constraints.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.position_constraints:
        _v30 = val1.header
        _x = _v30.seq
        buff.write(_get_struct_I().pack(_x))
        _v31 = _v30.stamp
        _x = _v31
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v30.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v32 = val1.target_point_offset
        _x = _v32
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v33 = val1.constraint_region
        length = len(_v33.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v33.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.dimensions))
        length = len(_v33.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v33.primitive_poses:
          _v34 = val3.position
          _x = _v34
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v35 = val3.orientation
          _x = _v35
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v33.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v33.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(_get_struct_3I().pack(*val4.vertex_indices))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v33.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v33.mesh_poses:
          _v36 = val3.position
          _x = _v36
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v37 = val3.orientation
          _x = _v37
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      length = len(self.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.orientation_constraints:
        _v38 = val1.header
        _x = _v38.seq
        buff.write(_get_struct_I().pack(_x))
        _v39 = _v38.stamp
        _x = _v39
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v38.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v40 = val1.orientation
        _x = _v40
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight))
      length = len(self.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.visibility_constraints:
        _x = val1.target_radius
        buff.write(_get_struct_d().pack(_x))
        _v41 = val1.target_pose
        _v42 = _v41.header
        _x = _v42.seq
        buff.write(_get_struct_I().pack(_x))
        _v43 = _v42.stamp
        _x = _v43
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v42.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v44 = _v41.pose
        _v45 = _v44.position
        _x = _v45
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v46 = _v44.orientation
        _x = _v46
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.cone_sides
        buff.write(_get_struct_i().pack(_x))
        _v47 = val1.sensor_pose
        _v48 = _v47.header
        _x = _v48.seq
        buff.write(_get_struct_I().pack(_x))
        _v49 = _v48.stamp
        _x = _v49
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v48.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v50 = _v47.pose
        _v51 = _v50.position
        _x = _v51
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v52 = _v50.orientation
        _x = _v52
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_get_struct_2dBd().pack(_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight))
      _x = self.planner_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.allowed_planning_time
      buff.write(_get_struct_d().pack(_x))
      _x = self.planning_options.planning_scene_diff.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.planning_options.planning_scene_diff.robot_state.joint_state.position))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.planning_options.planning_scene_diff.robot_state.joint_state.velocity))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.planning_options.planning_scene_diff.robot_state.joint_state.effort))
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms:
        _v53 = val1.translation
        _x = _v53
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v54 = val1.rotation
        _x = _v54
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist:
        _v55 = val1.linear
        _x = _v55
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v56 = val1.angular
        _x = _v56
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench:
        _v57 = val1.force
        _x = _v57
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v58 = val1.torque
        _x = _v58
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.planning_options.planning_scene_diff.robot_state.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v59 = val1.object
        _v60 = _v59.header
        _x = _v60.seq
        buff.write(_get_struct_I().pack(_x))
        _v61 = _v60.stamp
        _x = _v61
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v60.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v59.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v62 = _v59.type
        _x = _v62.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v62.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v59.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.dimensions))
        length = len(_v59.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.primitive_poses:
          _v63 = val3.position
          _x = _v63
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v64 = val3.orientation
          _x = _v64
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v59.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(_get_struct_3I().pack(*val4.vertex_indices))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v59.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.mesh_poses:
          _v65 = val3.position
          _x = _v65
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v66 = val3.orientation
          _x = _v66
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v59.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.planes:
          buff.write(_get_struct_4d().pack(*val3.coef))
        length = len(_v59.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.plane_poses:
          _v67 = val3.position
          _x = _v67
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v68 = val3.orientation
          _x = _v68
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v59.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v69 = val1.detach_posture
        _v70 = _v69.header
        _x = _v70.seq
        buff.write(_get_struct_I().pack(_x))
        _v71 = _v70.stamp
        _x = _v71
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v70.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v69.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v69.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v69.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v69.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v72 = val3.time_from_start
          _x = _v72
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.planning_options.planning_scene_diff.robot_state.is_diff
      buff.write(_get_struct_B().pack(_x))
      _x = self.planning_options.planning_scene_diff.robot_model_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.fixed_frame_transforms:
        _v73 = val1.header
        _x = _v73.seq
        buff.write(_get_struct_I().pack(_x))
        _v74 = _v73.stamp
        _x = _v74
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v73.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v75 = val1.transform
        _v76 = _v75.translation
        _x = _v76
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v77 = _v75.rotation
        _x = _v77
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(struct.Struct(pattern).pack(*val1.enabled))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(struct.Struct(pattern).pack(*self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      length = len(self.planning_options.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.padding
        buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.link_scale)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.link_scale:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.scale
        buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.object_colors)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.object_colors:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v78 = val1.color
        _x = _v78
        buff.write(_get_struct_4f().pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.planning_options.planning_scene_diff.world.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.world.collision_objects:
        _v79 = val1.header
        _x = _v79.seq
        buff.write(_get_struct_I().pack(_x))
        _v80 = _v79.stamp
        _x = _v80
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v79.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v81 = val1.type
        _x = _v81.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v81.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(val1.primitives)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitives:
          _x = val2.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val2.dimensions))
        length = len(val1.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitive_poses:
          _v82 = val2.position
          _x = _v82
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v83 = val2.orientation
          _x = _v83
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.meshes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.meshes:
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          for val3 in val2.triangles:
            buff.write(_get_struct_3I().pack(*val3.vertex_indices))
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(val1.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.mesh_poses:
          _v84 = val2.position
          _x = _v84
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v85 = val2.orientation
          _x = _v85
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.planes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.planes:
          buff.write(_get_struct_4d().pack(*val2.coef))
        length = len(val1.plane_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.plane_poses:
          _v86 = val2.position
          _x = _v86
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v87 = val2.orientation
          _x = _v87
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.operation
        buff.write(_get_struct_b().pack(_x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.world.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.world.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.binary
      buff.write(_get_struct_B().pack(_x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.resolution
      buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.world.octomap.octomap.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sb'%length
      buff.write(struct.Struct(pattern).pack(*self.planning_options.planning_scene_diff.world.octomap.octomap.data))
      _x = self
      buff.write(_get_struct_3BidBid().pack(_x.planning_options.planning_scene_diff.is_diff, _x.planning_options.plan_only, _x.planning_options.look_around, _x.planning_options.look_around_attempts, _x.planning_options.max_safe_execution_cost, _x.planning_options.replan, _x.planning_options.replan_attempts, _x.planning_options.replan_delay))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    codecs.lookup_error("rosmsg").msg_type = self._type
    try:
      if self.possible_grasps is None:
        self.possible_grasps = None
      if self.path_constraints is None:
        self.path_constraints = moveit_msgs.msg.Constraints()
      if self.planning_options is None:
        self.planning_options = moveit_msgs.msg.PlanningOptions()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.target_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.group_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.group_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.end_effector = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.end_effector = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.possible_grasps = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v88 = val1.pre_grasp_posture
        _v89 = _v88.header
        start = end
        end += 4
        (_v89.seq,) = _get_struct_I().unpack(str[start:end])
        _v90 = _v89.stamp
        _x = _v90
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v89.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v89.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v88.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v88.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v88.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v91 = val3.time_from_start
          _x = _v91
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v88.points.append(val3)
        _v92 = val1.grasp_posture
        _v93 = _v92.header
        start = end
        end += 4
        (_v93.seq,) = _get_struct_I().unpack(str[start:end])
        _v94 = _v93.stamp
        _x = _v94
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v93.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v93.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v92.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v92.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v92.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v95 = val3.time_from_start
          _x = _v95
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v92.points.append(val3)
        _v96 = val1.grasp_pose
        _v97 = _v96.header
        start = end
        end += 4
        (_v97.seq,) = _get_struct_I().unpack(str[start:end])
        _v98 = _v97.stamp
        _x = _v98
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v97.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v97.frame_id = str[start:end]
        _v99 = _v96.pose
        _v100 = _v99.position
        _x = _v100
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v101 = _v99.orientation
        _x = _v101
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _get_struct_d().unpack(str[start:end])
        _v102 = val1.pre_grasp_approach
        _v103 = _v102.direction
        _v104 = _v103.header
        start = end
        end += 4
        (_v104.seq,) = _get_struct_I().unpack(str[start:end])
        _v105 = _v104.stamp
        _x = _v105
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v104.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v104.frame_id = str[start:end]
        _v106 = _v103.vector
        _x = _v106
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v102
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v107 = val1.post_grasp_retreat
        _v108 = _v107.direction
        _v109 = _v108.header
        start = end
        end += 4
        (_v109.seq,) = _get_struct_I().unpack(str[start:end])
        _v110 = _v109.stamp
        _x = _v110
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v109.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v109.frame_id = str[start:end]
        _v111 = _v108.vector
        _x = _v111
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v107
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v112 = val1.post_place_retreat
        _v113 = _v112.direction
        _v114 = _v113.header
        start = end
        end += 4
        (_v114.seq,) = _get_struct_I().unpack(str[start:end])
        _v115 = _v114.stamp
        _x = _v115
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v114.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v114.frame_id = str[start:end]
        _v116 = _v113.vector
        _x = _v116
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v112
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _get_struct_f().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.possible_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.support_surface_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.support_surface_name = str[start:end]
      start = end
      end += 1
      (self.allow_gripper_support_collision,) = _get_struct_B().unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attached_object_touch_links = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.attached_object_touch_links.append(val1)
      start = end
      end += 1
      (self.minimize_object_distance,) = _get_struct_B().unpack(str[start:end])
      self.minimize_object_distance = bool(self.minimize_object_distance)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.path_constraints.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.path_constraints.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PositionConstraint()
        _v117 = val1.header
        start = end
        end += 4
        (_v117.seq,) = _get_struct_I().unpack(str[start:end])
        _v118 = _v117.stamp
        _x = _v118
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v117.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v117.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v119 = val1.target_point_offset
        _x = _v119
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v120 = val1.constraint_region
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v120.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = s.unpack(str[start:end])
          _v120.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v120.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v121 = val3.position
          _x = _v121
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v122 = val3.orientation
          _x = _v122
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v120.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v120.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v120.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v120.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v123 = val3.position
          _x = _v123
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v124 = val3.orientation
          _x = _v124
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v120.mesh_poses.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.OrientationConstraint()
        _v125 = val1.header
        start = end
        end += 4
        (_v125.seq,) = _get_struct_I().unpack(str[start:end])
        _v126 = _v125.stamp
        _x = _v126
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v125.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v125.frame_id = str[start:end]
        _v127 = val1.orientation
        _x = _v127
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.VisibilityConstraint()
        start = end
        end += 8
        (val1.target_radius,) = _get_struct_d().unpack(str[start:end])
        _v128 = val1.target_pose
        _v129 = _v128.header
        start = end
        end += 4
        (_v129.seq,) = _get_struct_I().unpack(str[start:end])
        _v130 = _v129.stamp
        _x = _v130
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v129.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v129.frame_id = str[start:end]
        _v131 = _v128.pose
        _v132 = _v131.position
        _x = _v132
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v133 = _v131.orientation
        _x = _v133
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (val1.cone_sides,) = _get_struct_i().unpack(str[start:end])
        _v134 = val1.sensor_pose
        _v135 = _v134.header
        start = end
        end += 4
        (_v135.seq,) = _get_struct_I().unpack(str[start:end])
        _v136 = _v135.stamp
        _x = _v136
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v135.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v135.frame_id = str[start:end]
        _v137 = _v134.pose
        _v138 = _v137.position
        _x = _v138
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v139 = _v137.orientation
        _x = _v139
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _x = val1
        start = end
        end += 25
        (_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight,) = _get_struct_2dBd().unpack(str[start:end])
        self.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planner_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planner_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.allowed_touch_objects.append(val1)
      start = end
      end += 8
      (self.allowed_planning_time,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.joint_state.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.position = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.velocity = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.effort = s.unpack(str[start:end])
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v140 = val1.translation
        _x = _v140
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v141 = val1.rotation
        _x = _v141
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v142 = val1.linear
        _x = _v142
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v143 = val1.angular
        _x = _v143
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v144 = val1.force
        _x = _v144
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v145 = val1.torque
        _x = _v145
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v146 = val1.object
        _v147 = _v146.header
        start = end
        end += 4
        (_v147.seq,) = _get_struct_I().unpack(str[start:end])
        _v148 = _v147.stamp
        _x = _v148
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v147.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v147.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v146.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v146.id = str[start:end]
        _v149 = _v146.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v149.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v149.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v149.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v149.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = s.unpack(str[start:end])
          _v146.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v150 = val3.position
          _x = _v150
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v151 = val3.orientation
          _x = _v151
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v146.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v146.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v152 = val3.position
          _x = _v152
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v153 = val3.orientation
          _x = _v153
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v146.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = _get_struct_4d().unpack(str[start:end])
          _v146.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v154 = val3.position
          _x = _v154
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v155 = val3.orientation
          _x = _v155
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v146.plane_poses.append(val3)
        start = end
        end += 1
        (_v146.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v156 = val1.detach_posture
        _v157 = _v156.header
        start = end
        end += 4
        (_v157.seq,) = _get_struct_I().unpack(str[start:end])
        _v158 = _v157.stamp
        _x = _v158
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v157.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v157.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v156.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v156.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v156.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v159 = val3.time_from_start
          _x = _v159
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v156.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.planning_options.planning_scene_diff.robot_state.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.is_diff = bool(self.planning_options.planning_scene_diff.robot_state.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_model_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_model_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v160 = val1.header
        start = end
        end += 4
        (_v160.seq,) = _get_struct_I().unpack(str[start:end])
        _v161 = _v160.stamp
        _x = _v161
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v160.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v160.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.child_frame_id = str[start:end]
        _v162 = val1.transform
        _v163 = _v162.translation
        _x = _v163
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v164 = _v162.rotation
        _x = _v164
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.enabled = s.unpack(str[start:end])
        val1.enabled = list(map(bool, val1.enabled))
        self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = s.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = list(map(bool, self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.link_scale = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkScale()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.scale,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.link_scale.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.object_colors = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.ObjectColor()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v165 = val1.color
        _x = _v165
        start = end
        end += 16
        (_x.r, _x.g, _x.b, _x.a,) = _get_struct_4f().unpack(str[start:end])
        self.planning_options.planning_scene_diff.object_colors.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.world.collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.CollisionObject()
        _v166 = val1.header
        start = end
        end += 4
        (_v166.seq,) = _get_struct_I().unpack(str[start:end])
        _v167 = _v166.stamp
        _x = _v167
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v166.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v166.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v168 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v168.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v168.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v168.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v168.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitives = []
        for i in range(0, length):
          val2 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val2.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val2.dimensions = s.unpack(str[start:end])
          val1.primitives.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitive_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v169 = val2.position
          _x = _v169
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v170 = val2.orientation
          _x = _v170
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.primitive_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.meshes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.triangles = []
          for i in range(0, length):
            val3 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val3.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val2.triangles.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val2.vertices.append(val3)
          val1.meshes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.mesh_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v171 = val2.position
          _x = _v171
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v172 = val2.orientation
          _x = _v172
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.mesh_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.planes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val2.coef = _get_struct_4d().unpack(str[start:end])
          val1.planes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.plane_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v173 = val2.position
          _x = _v173
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v174 = val2.orientation
          _x = _v174
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.plane_poses.append(val2)
        start = end
        end += 1
        (val1.operation,) = _get_struct_b().unpack(str[start:end])
        self.planning_options.planning_scene_diff.world.collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.world.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end]
      start = end
      end += 1
      (self.planning_options.planning_scene_diff.world.octomap.octomap.binary,) = _get_struct_B().unpack(str[start:end])
      self.planning_options.planning_scene_diff.world.octomap.octomap.binary = bool(self.planning_options.planning_scene_diff.world.octomap.octomap.binary)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end]
      start = end
      end += 8
      (self.planning_options.planning_scene_diff.world.octomap.octomap.resolution,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sb'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.world.octomap.octomap.data = s.unpack(str[start:end])
      _x = self
      start = end
      end += 28
      (_x.planning_options.planning_scene_diff.is_diff, _x.planning_options.plan_only, _x.planning_options.look_around, _x.planning_options.look_around_attempts, _x.planning_options.max_safe_execution_cost, _x.planning_options.replan, _x.planning_options.replan_attempts, _x.planning_options.replan_delay,) = _get_struct_3BidBid().unpack(str[start:end])
      self.planning_options.planning_scene_diff.is_diff = bool(self.planning_options.planning_scene_diff.is_diff)
      self.planning_options.plan_only = bool(self.planning_options.plan_only)
      self.planning_options.look_around = bool(self.planning_options.look_around)
      self.planning_options.replan = bool(self.planning_options.replan)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e)  # most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self.target_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.group_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.end_effector
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.possible_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.possible_grasps:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v175 = val1.pre_grasp_posture
        _v176 = _v175.header
        _x = _v176.seq
        buff.write(_get_struct_I().pack(_x))
        _v177 = _v176.stamp
        _x = _v177
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v176.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v175.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v175.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v175.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v175.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v178 = val3.time_from_start
          _x = _v178
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v179 = val1.grasp_posture
        _v180 = _v179.header
        _x = _v180.seq
        buff.write(_get_struct_I().pack(_x))
        _v181 = _v180.stamp
        _x = _v181
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v180.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v179.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v179.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v179.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v179.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v182 = val3.time_from_start
          _x = _v182
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v183 = val1.grasp_pose
        _v184 = _v183.header
        _x = _v184.seq
        buff.write(_get_struct_I().pack(_x))
        _v185 = _v184.stamp
        _x = _v185
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v184.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v186 = _v183.pose
        _v187 = _v186.position
        _x = _v187
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v188 = _v186.orientation
        _x = _v188
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.grasp_quality
        buff.write(_get_struct_d().pack(_x))
        _v189 = val1.pre_grasp_approach
        _v190 = _v189.direction
        _v191 = _v190.header
        _x = _v191.seq
        buff.write(_get_struct_I().pack(_x))
        _v192 = _v191.stamp
        _x = _v192
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v191.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v193 = _v190.vector
        _x = _v193
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v189
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v194 = val1.post_grasp_retreat
        _v195 = _v194.direction
        _v196 = _v195.header
        _x = _v196.seq
        buff.write(_get_struct_I().pack(_x))
        _v197 = _v196.stamp
        _x = _v197
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v196.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v198 = _v195.vector
        _x = _v198
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v194
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v199 = val1.post_place_retreat
        _v200 = _v199.direction
        _v201 = _v200.header
        _x = _v201.seq
        buff.write(_get_struct_I().pack(_x))
        _v202 = _v201.stamp
        _x = _v202
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v201.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v203 = _v200.vector
        _x = _v203
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v199
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _x = val1.max_contact_force
        buff.write(_get_struct_f().pack(_x))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
      _x = self.support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.allow_gripper_support_collision
      buff.write(_get_struct_B().pack(_x))
      length = len(self.attached_object_touch_links)
      buff.write(_struct_I.pack(length))
      for val1 in self.attached_object_touch_links:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.minimize_object_distance
      buff.write(_get_struct_B().pack(_x))
      _x = self.path_constraints.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.position_constraints:
        _v204 = val1.header
        _x = _v204.seq
        buff.write(_get_struct_I().pack(_x))
        _v205 = _v204.stamp
        _x = _v205
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v204.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v206 = val1.target_point_offset
        _x = _v206
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v207 = val1.constraint_region
        length = len(_v207.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v207.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
        length = len(_v207.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v207.primitive_poses:
          _v208 = val3.position
          _x = _v208
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v209 = val3.orientation
          _x = _v209
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v207.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v207.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(val4.vertex_indices.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v207.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v207.mesh_poses:
          _v210 = val3.position
          _x = _v210
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v211 = val3.orientation
          _x = _v211
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      length = len(self.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.orientation_constraints:
        _v212 = val1.header
        _x = _v212.seq
        buff.write(_get_struct_I().pack(_x))
        _v213 = _v212.stamp
        _x = _v213
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v212.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v214 = val1.orientation
        _x = _v214
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight))
      length = len(self.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.visibility_constraints:
        _x = val1.target_radius
        buff.write(_get_struct_d().pack(_x))
        _v215 = val1.target_pose
        _v216 = _v215.header
        _x = _v216.seq
        buff.write(_get_struct_I().pack(_x))
        _v217 = _v216.stamp
        _x = _v217
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v216.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v218 = _v215.pose
        _v219 = _v218.position
        _x = _v219
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v220 = _v218.orientation
        _x = _v220
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.cone_sides
        buff.write(_get_struct_i().pack(_x))
        _v221 = val1.sensor_pose
        _v222 = _v221.header
        _x = _v222.seq
        buff.write(_get_struct_I().pack(_x))
        _v223 = _v222.stamp
        _x = _v223
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v222.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v224 = _v221.pose
        _v225 = _v224.position
        _x = _v225
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v226 = _v224.orientation
        _x = _v226
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_get_struct_2dBd().pack(_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight))
      _x = self.planner_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.allowed_planning_time
      buff.write(_get_struct_d().pack(_x))
      _x = self.planning_options.planning_scene_diff.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_options.planning_scene_diff.robot_state.joint_state.position.tostring())
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_options.planning_scene_diff.robot_state.joint_state.velocity.tostring())
      length = len(self.planning_options.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_options.planning_scene_diff.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms:
        _v227 = val1.translation
        _x = _v227
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v228 = val1.rotation
        _x = _v228
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist:
        _v229 = val1.linear
        _x = _v229
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v230 = val1.angular
        _x = _v230
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench:
        _v231 = val1.force
        _x = _v231
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v232 = val1.torque
        _x = _v232
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.planning_options.planning_scene_diff.robot_state.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.robot_state.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v233 = val1.object
        _v234 = _v233.header
        _x = _v234.seq
        buff.write(_get_struct_I().pack(_x))
        _v235 = _v234.stamp
        _x = _v235
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v234.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v233.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v236 = _v233.type
        _x = _v236.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v236.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v233.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
        length = len(_v233.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.primitive_poses:
          _v237 = val3.position
          _x = _v237
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v238 = val3.orientation
          _x = _v238
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v233.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(val4.vertex_indices.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v233.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.mesh_poses:
          _v239 = val3.position
          _x = _v239
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v240 = val3.orientation
          _x = _v240
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v233.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.planes:
          buff.write(val3.coef.tostring())
        length = len(_v233.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v233.plane_poses:
          _v241 = val3.position
          _x = _v241
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v242 = val3.orientation
          _x = _v242
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v233.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v243 = val1.detach_posture
        _v244 = _v243.header
        _x = _v244.seq
        buff.write(_get_struct_I().pack(_x))
        _v245 = _v244.stamp
        _x = _v245
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v244.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v243.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v243.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v243.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v243.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v246 = val3.time_from_start
          _x = _v246
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.planning_options.planning_scene_diff.robot_state.is_diff
      buff.write(_get_struct_B().pack(_x))
      _x = self.planning_options.planning_scene_diff.robot_model_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.planning_options.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.fixed_frame_transforms:
        _v247 = val1.header
        _x = _v247.seq
        buff.write(_get_struct_I().pack(_x))
        _v248 = _v247.stamp
        _x = _v248
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v247.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v249 = val1.transform
        _v250 = _v249.translation
        _x = _v250
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v251 = _v249.rotation
        _x = _v251
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(val1.enabled.tostring())
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values.tostring())
      length = len(self.planning_options.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.padding
        buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.link_scale)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.link_scale:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.scale
        buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.object_colors)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.object_colors:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v252 = val1.color
        _x = _v252
        buff.write(_get_struct_4f().pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.planning_options.planning_scene_diff.world.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_options.planning_scene_diff.world.collision_objects:
        _v253 = val1.header
        _x = _v253.seq
        buff.write(_get_struct_I().pack(_x))
        _v254 = _v253.stamp
        _x = _v254
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v253.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v255 = val1.type
        _x = _v255.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v255.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(val1.primitives)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitives:
          _x = val2.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.dimensions.tostring())
        length = len(val1.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitive_poses:
          _v256 = val2.position
          _x = _v256
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v257 = val2.orientation
          _x = _v257
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.meshes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.meshes:
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          for val3 in val2.triangles:
            buff.write(val3.vertex_indices.tostring())
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(val1.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.mesh_poses:
          _v258 = val2.position
          _x = _v258
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v259 = val2.orientation
          _x = _v259
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.planes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.planes:
          buff.write(val2.coef.tostring())
        length = len(val1.plane_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.plane_poses:
          _v260 = val2.position
          _x = _v260
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v261 = val2.orientation
          _x = _v261
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.operation
        buff.write(_get_struct_b().pack(_x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.planning_options.planning_scene_diff.world.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.world.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.binary
      buff.write(_get_struct_B().pack(_x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.planning_options.planning_scene_diff.world.octomap.octomap.resolution
      buff.write(_get_struct_d().pack(_x))
      length = len(self.planning_options.planning_scene_diff.world.octomap.octomap.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sb'%length
      buff.write(self.planning_options.planning_scene_diff.world.octomap.octomap.data.tostring())
      _x = self
      buff.write(_get_struct_3BidBid().pack(_x.planning_options.planning_scene_diff.is_diff, _x.planning_options.plan_only, _x.planning_options.look_around, _x.planning_options.look_around_attempts, _x.planning_options.max_safe_execution_cost, _x.planning_options.replan, _x.planning_options.replan_attempts, _x.planning_options.replan_delay))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    codecs.lookup_error("rosmsg").msg_type = self._type
    try:
      if self.possible_grasps is None:
        self.possible_grasps = None
      if self.path_constraints is None:
        self.path_constraints = moveit_msgs.msg.Constraints()
      if self.planning_options is None:
        self.planning_options = moveit_msgs.msg.PlanningOptions()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.target_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.group_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.group_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.end_effector = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.end_effector = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.possible_grasps = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v262 = val1.pre_grasp_posture
        _v263 = _v262.header
        start = end
        end += 4
        (_v263.seq,) = _get_struct_I().unpack(str[start:end])
        _v264 = _v263.stamp
        _x = _v264
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v263.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v263.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v262.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v262.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v262.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v265 = val3.time_from_start
          _x = _v265
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v262.points.append(val3)
        _v266 = val1.grasp_posture
        _v267 = _v266.header
        start = end
        end += 4
        (_v267.seq,) = _get_struct_I().unpack(str[start:end])
        _v268 = _v267.stamp
        _x = _v268
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v267.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v267.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v266.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v266.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v266.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v269 = val3.time_from_start
          _x = _v269
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v266.points.append(val3)
        _v270 = val1.grasp_pose
        _v271 = _v270.header
        start = end
        end += 4
        (_v271.seq,) = _get_struct_I().unpack(str[start:end])
        _v272 = _v271.stamp
        _x = _v272
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v271.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v271.frame_id = str[start:end]
        _v273 = _v270.pose
        _v274 = _v273.position
        _x = _v274
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v275 = _v273.orientation
        _x = _v275
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _get_struct_d().unpack(str[start:end])
        _v276 = val1.pre_grasp_approach
        _v277 = _v276.direction
        _v278 = _v277.header
        start = end
        end += 4
        (_v278.seq,) = _get_struct_I().unpack(str[start:end])
        _v279 = _v278.stamp
        _x = _v279
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v278.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v278.frame_id = str[start:end]
        _v280 = _v277.vector
        _x = _v280
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v276
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v281 = val1.post_grasp_retreat
        _v282 = _v281.direction
        _v283 = _v282.header
        start = end
        end += 4
        (_v283.seq,) = _get_struct_I().unpack(str[start:end])
        _v284 = _v283.stamp
        _x = _v284
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v283.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v283.frame_id = str[start:end]
        _v285 = _v282.vector
        _x = _v285
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v281
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v286 = val1.post_place_retreat
        _v287 = _v286.direction
        _v288 = _v287.header
        start = end
        end += 4
        (_v288.seq,) = _get_struct_I().unpack(str[start:end])
        _v289 = _v288.stamp
        _x = _v289
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v288.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v288.frame_id = str[start:end]
        _v290 = _v287.vector
        _x = _v290
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v286
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _get_struct_f().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.possible_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.support_surface_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.support_surface_name = str[start:end]
      start = end
      end += 1
      (self.allow_gripper_support_collision,) = _get_struct_B().unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attached_object_touch_links = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.attached_object_touch_links.append(val1)
      start = end
      end += 1
      (self.minimize_object_distance,) = _get_struct_B().unpack(str[start:end])
      self.minimize_object_distance = bool(self.minimize_object_distance)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.path_constraints.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.path_constraints.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PositionConstraint()
        _v291 = val1.header
        start = end
        end += 4
        (_v291.seq,) = _get_struct_I().unpack(str[start:end])
        _v292 = _v291.stamp
        _x = _v292
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v291.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v291.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v293 = val1.target_point_offset
        _x = _v293
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v294 = val1.constraint_region
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v294.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v294.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v294.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v295 = val3.position
          _x = _v295
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v296 = val3.orientation
          _x = _v296
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v294.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v294.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v294.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v294.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v297 = val3.position
          _x = _v297
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v298 = val3.orientation
          _x = _v298
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v294.mesh_poses.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.OrientationConstraint()
        _v299 = val1.header
        start = end
        end += 4
        (_v299.seq,) = _get_struct_I().unpack(str[start:end])
        _v300 = _v299.stamp
        _x = _v300
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v299.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v299.frame_id = str[start:end]
        _v301 = val1.orientation
        _x = _v301
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.VisibilityConstraint()
        start = end
        end += 8
        (val1.target_radius,) = _get_struct_d().unpack(str[start:end])
        _v302 = val1.target_pose
        _v303 = _v302.header
        start = end
        end += 4
        (_v303.seq,) = _get_struct_I().unpack(str[start:end])
        _v304 = _v303.stamp
        _x = _v304
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v303.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v303.frame_id = str[start:end]
        _v305 = _v302.pose
        _v306 = _v305.position
        _x = _v306
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v307 = _v305.orientation
        _x = _v307
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (val1.cone_sides,) = _get_struct_i().unpack(str[start:end])
        _v308 = val1.sensor_pose
        _v309 = _v308.header
        start = end
        end += 4
        (_v309.seq,) = _get_struct_I().unpack(str[start:end])
        _v310 = _v309.stamp
        _x = _v310
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v309.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v309.frame_id = str[start:end]
        _v311 = _v308.pose
        _v312 = _v311.position
        _x = _v312
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v313 = _v311.orientation
        _x = _v313
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _x = val1
        start = end
        end += 25
        (_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight,) = _get_struct_2dBd().unpack(str[start:end])
        self.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planner_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planner_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.allowed_touch_objects.append(val1)
      start = end
      end += 8
      (self.allowed_planning_time,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.joint_state.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v314 = val1.translation
        _x = _v314
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v315 = val1.rotation
        _x = _v315
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v316 = val1.linear
        _x = _v316
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v317 = val1.angular
        _x = _v317
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v318 = val1.force
        _x = _v318
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v319 = val1.torque
        _x = _v319
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v320 = val1.object
        _v321 = _v320.header
        start = end
        end += 4
        (_v321.seq,) = _get_struct_I().unpack(str[start:end])
        _v322 = _v321.stamp
        _x = _v322
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v321.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v321.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v320.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v320.id = str[start:end]
        _v323 = _v320.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v323.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v323.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v323.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v323.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v320.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v324 = val3.position
          _x = _v324
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v325 = val3.orientation
          _x = _v325
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v320.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v320.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v326 = val3.position
          _x = _v326
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v327 = val3.orientation
          _x = _v327
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v320.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
          _v320.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v328 = val3.position
          _x = _v328
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v329 = val3.orientation
          _x = _v329
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v320.plane_poses.append(val3)
        start = end
        end += 1
        (_v320.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v330 = val1.detach_posture
        _v331 = _v330.header
        start = end
        end += 4
        (_v331.seq,) = _get_struct_I().unpack(str[start:end])
        _v332 = _v331.stamp
        _x = _v332
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v331.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v331.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v330.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v330.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v330.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v333 = val3.time_from_start
          _x = _v333
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v330.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.robot_state.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.planning_options.planning_scene_diff.robot_state.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.planning_options.planning_scene_diff.robot_state.is_diff = bool(self.planning_options.planning_scene_diff.robot_state.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.robot_model_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.robot_model_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v334 = val1.header
        start = end
        end += 4
        (_v334.seq,) = _get_struct_I().unpack(str[start:end])
        _v335 = _v334.stamp
        _x = _v335
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v334.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v334.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.child_frame_id = str[start:end]
        _v336 = val1.transform
        _v337 = _v336.translation
        _x = _v337
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v338 = _v336.rotation
        _x = _v338
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
        val1.enabled = list(map(bool, val1.enabled))
        self.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
      self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = list(map(bool, self.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.link_scale = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkScale()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.scale,) = _get_struct_d().unpack(str[start:end])
        self.planning_options.planning_scene_diff.link_scale.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.object_colors = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.ObjectColor()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v339 = val1.color
        _x = _v339
        start = end
        end += 16
        (_x.r, _x.g, _x.b, _x.a,) = _get_struct_4f().unpack(str[start:end])
        self.planning_options.planning_scene_diff.object_colors.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_options.planning_scene_diff.world.collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.CollisionObject()
        _v340 = val1.header
        start = end
        end += 4
        (_v340.seq,) = _get_struct_I().unpack(str[start:end])
        _v341 = _v340.stamp
        _x = _v341
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v340.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v340.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v342 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v342.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v342.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v342.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v342.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitives = []
        for i in range(0, length):
          val2 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val2.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val2.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          val1.primitives.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitive_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v343 = val2.position
          _x = _v343
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v344 = val2.orientation
          _x = _v344
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.primitive_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.meshes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.triangles = []
          for i in range(0, length):
            val3 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val3.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val2.triangles.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val2.vertices.append(val3)
          val1.meshes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.mesh_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v345 = val2.position
          _x = _v345
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v346 = val2.orientation
          _x = _v346
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.mesh_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.planes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val2.coef = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
          val1.planes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.plane_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v347 = val2.position
          _x = _v347
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v348 = val2.orientation
          _x = _v348
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.plane_poses.append(val2)
        start = end
        end += 1
        (val1.operation,) = _get_struct_b().unpack(str[start:end])
        self.planning_options.planning_scene_diff.world.collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_options.planning_scene_diff.world.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end]
      start = end
      end += 1
      (self.planning_options.planning_scene_diff.world.octomap.octomap.binary,) = _get_struct_B().unpack(str[start:end])
      self.planning_options.planning_scene_diff.world.octomap.octomap.binary = bool(self.planning_options.planning_scene_diff.world.octomap.octomap.binary)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end]
      start = end
      end += 8
      (self.planning_options.planning_scene_diff.world.octomap.octomap.resolution,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sb'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.planning_options.planning_scene_diff.world.octomap.octomap.data = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=length)
      _x = self
      start = end
      end += 28
      (_x.planning_options.planning_scene_diff.is_diff, _x.planning_options.plan_only, _x.planning_options.look_around, _x.planning_options.look_around_attempts, _x.planning_options.max_safe_execution_cost, _x.planning_options.replan, _x.planning_options.replan_attempts, _x.planning_options.replan_delay,) = _get_struct_3BidBid().unpack(str[start:end])
      self.planning_options.planning_scene_diff.is_diff = bool(self.planning_options.planning_scene_diff.is_diff)
      self.planning_options.plan_only = bool(self.planning_options.plan_only)
      self.planning_options.look_around = bool(self.planning_options.look_around)
      self.planning_options.replan = bool(self.planning_options.replan)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e)  # most likely buffer underfill

_struct_I = genpy.struct_I
def _get_struct_I():
    global _struct_I
    return _struct_I
_struct_2I = None
def _get_struct_2I():
    global _struct_2I
    if _struct_2I is None:
        _struct_2I = struct.Struct("<2I")
    return _struct_2I
_struct_2dBd = None
def _get_struct_2dBd():
    global _struct_2dBd
    if _struct_2dBd is None:
        _struct_2dBd = struct.Struct("<2dBd")
    return _struct_2dBd
_struct_2f = None
def _get_struct_2f():
    global _struct_2f
    if _struct_2f is None:
        _struct_2f = struct.Struct("<2f")
    return _struct_2f
_struct_2i = None
def _get_struct_2i():
    global _struct_2i
    if _struct_2i is None:
        _struct_2i = struct.Struct("<2i")
    return _struct_2i
_struct_3BidBid = None
def _get_struct_3BidBid():
    global _struct_3BidBid
    if _struct_3BidBid is None:
        _struct_3BidBid = struct.Struct("<3BidBid")
    return _struct_3BidBid
_struct_3I = None
def _get_struct_3I():
    global _struct_3I
    if _struct_3I is None:
        _struct_3I = struct.Struct("<3I")
    return _struct_3I
_struct_3d = None
def _get_struct_3d():
    global _struct_3d
    if _struct_3d is None:
        _struct_3d = struct.Struct("<3d")
    return _struct_3d
_struct_4d = None
def _get_struct_4d():
    global _struct_4d
    if _struct_4d is None:
        _struct_4d = struct.Struct("<4d")
    return _struct_4d
_struct_4f = None
def _get_struct_4f():
    global _struct_4f
    if _struct_4f is None:
        _struct_4f = struct.Struct("<4f")
    return _struct_4f
_struct_7d3I = None
def _get_struct_7d3I():
    global _struct_7d3I
    if _struct_7d3I is None:
        _struct_7d3I = struct.Struct("<7d3I")
    return _struct_7d3I
_struct_B = None
def _get_struct_B():
    global _struct_B
    if _struct_B is None:
        _struct_B = struct.Struct("<B")
    return _struct_B
_struct_b = None
def _get_struct_b():
    global _struct_b
    if _struct_b is None:
        _struct_b = struct.Struct("<b")
    return _struct_b
_struct_d = None
def _get_struct_d():
    global _struct_d
    if _struct_d is None:
        _struct_d = struct.Struct("<d")
    return _struct_d
_struct_f = None
def _get_struct_f():
    global _struct_f
    if _struct_f is None:
        _struct_f = struct.Struct("<f")
    return _struct_f
_struct_i = None
def _get_struct_i():
    global _struct_i
    if _struct_i is None:
        _struct_i = struct.Struct("<i")
    return _struct_i
