_PickupResult.py

Go to the documentation of this file.

"""autogenerated by genmsg_py from PickupResult.msg. Do not edit."""
import roslib.message
import struct

import geometry_msgs.msg
import std_msgs.msg
import object_manipulation_msgs.msg
import sensor_msgs.msg

class PickupResult(roslib.message.Message):
  _md5sum = "793066b09b7f497fba66b4c2d9e27356"
  _type = "object_manipulation_msgs/PickupResult"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# The overall result of the pickup attempt
ManipulationResult manipulation_result

# The performed grasp, if attempt was successful
Grasp grasp

# the complete list of attempted grasp, in the order in which they have been attempted
# the successful one should be the last one in this list
Grasp[] attempted_grasps

# the outcomes of the attempted grasps, in the same order as attempted_grasps
GraspResult[] attempted_grasp_results
================================================================================
MSG: object_manipulation_msgs/ManipulationResult
# Result codes for manipulation tasks

# task completed as expected
# generally means you can proceed as planned
int32 SUCCESS = 1

# task not possible (e.g. out of reach or obstacles in the way)
# generally means that the world was not disturbed, so you can try another task
int32 UNFEASIBLE = -1

# task was thought possible, but failed due to unexpected events during execution
# it is likely that the world was disturbed, so you are encouraged to refresh
# your sensed world model before proceeding to another task
int32 FAILED = -2

# a lower level error prevented task completion (e.g. joint controller not responding)
# generally requires human attention
int32 ERROR = -3

# means that at some point during execution we ended up in a state that the collision-aware
# arm navigation module will not move out of. The world was likely not disturbed, but you 
# probably need a new collision map to move the arm out of the stuck position
int32 ARM_MOVEMENT_PREVENTED = -4

# specific to grasp actions
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
# it is likely that the collision environment will see collisions between the hand/object and the support surface
int32 LIFT_FAILED = -5

# specific to place actions
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
# it is likely that the collision environment will see collisions between the hand and the object
int32 RETREAT_FAILED = -6

# indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
int32 CANCELLED = -7

# the actual value of this error code
int32 value

================================================================================
MSG: object_manipulation_msgs/Grasp

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

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

# The position of the end-effector for the grasp relative to the object
geometry_msgs/Pose grasp_pose

# The estimated probability of success for this grasp
float64 success_probability

# Debug flag to indicate that this grasp would be the best in its cluster
bool cluster_rep
================================================================================
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: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion 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: object_manipulation_msgs/GraspResult
int32 SUCCESS = 1
int32 GRASP_OUT_OF_REACH = 2
int32 GRASP_IN_COLLISION = 3
int32 GRASP_UNFEASIBLE = 4
int32 PREGRASP_OUT_OF_REACH = 5
int32 PREGRASP_IN_COLLISION = 6
int32 PREGRASP_UNFEASIBLE = 7
int32 LIFT_OUT_OF_REACH = 8
int32 LIFT_IN_COLLISION = 9
int32 LIFT_UNFEASIBLE = 10
int32 MOVE_ARM_FAILED = 11
int32 GRASP_FAILED = 12
int32 LIFT_FAILED = 13
int32 RETREAT_FAILED = 14
int32 result_code

# whether the state of the world was disturbed by this attempt. generally, this flag
# shows if another task can be attempted, or a new sensed world model is recommeded
# before proceeding
bool continuation_possible

"""
  __slots__ = ['manipulation_result','grasp','attempted_grasps','attempted_grasp_results']
  _slot_types = ['object_manipulation_msgs/ManipulationResult','object_manipulation_msgs/Grasp','object_manipulation_msgs/Grasp[]','object_manipulation_msgs/GraspResult[]']

  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:
       manipulation_result,grasp,attempted_grasps,attempted_grasp_results
    
    @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(PickupResult, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.manipulation_result is None:
        self.manipulation_result = object_manipulation_msgs.msg.ManipulationResult()
      if self.grasp is None:
        self.grasp = object_manipulation_msgs.msg.Grasp()
      if self.attempted_grasps is None:
        self.attempted_grasps = []
      if self.attempted_grasp_results is None:
        self.attempted_grasp_results = []
    else:
      self.manipulation_result = object_manipulation_msgs.msg.ManipulationResult()
      self.grasp = object_manipulation_msgs.msg.Grasp()
      self.attempted_grasps = []
      self.attempted_grasp_results = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_i3I.pack(_x.manipulation_result.value, _x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.position))
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.velocity))
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.position))
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.velocity))
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_8dB.pack(_x.grasp.grasp_pose.position.x, _x.grasp.grasp_pose.position.y, _x.grasp.grasp_pose.position.z, _x.grasp.grasp_pose.orientation.x, _x.grasp.grasp_pose.orientation.y, _x.grasp.grasp_pose.orientation.z, _x.grasp.grasp_pose.orientation.w, _x.grasp.success_probability, _x.grasp.cluster_rep))
      length = len(self.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.attempted_grasps:
        _v1 = val1.pre_grasp_posture
        _v2 = _v1.header
        buff.write(_struct_I.pack(_v2.seq))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v2.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v1.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v1.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.position))
        length = len(_v1.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.velocity))
        length = len(_v1.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.effort))
        _v4 = val1.grasp_posture
        _v5 = _v4.header
        buff.write(_struct_I.pack(_v5.seq))
        _v6 = _v5.stamp
        _x = _v6
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v5.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v4.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v4.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v4.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.position))
        length = len(_v4.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.velocity))
        length = len(_v4.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.effort))
        _v7 = val1.grasp_pose
        _v8 = _v7.position
        _x = _v8
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v9 = _v7.orientation
        _x = _v9
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB.pack(_x.success_probability, _x.cluster_rep))
      length = len(self.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.manipulation_result is None:
        self.manipulation_result = object_manipulation_msgs.msg.ManipulationResult()
      if self.grasp is None:
        self.grasp = object_manipulation_msgs.msg.Grasp()
      end = 0
      _x = self
      start = end
      end += 16
      (_x.manipulation_result.value, _x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 65
      (_x.grasp.grasp_pose.position.x, _x.grasp.grasp_pose.position.y, _x.grasp.grasp_pose.position.z, _x.grasp.grasp_pose.orientation.x, _x.grasp.grasp_pose.orientation.y, _x.grasp.grasp_pose.orientation.z, _x.grasp.grasp_pose.orientation.w, _x.grasp.success_probability, _x.grasp.cluster_rep,) = _struct_8dB.unpack(str[start:end])
      self.grasp.cluster_rep = bool(self.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attempted_grasps = []
      for i in xrange(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v10 = val1.pre_grasp_posture
        _v11 = _v10.header
        start = end
        end += 4
        (_v11.seq,) = _struct_I.unpack(str[start:end])
        _v12 = _v11.stamp
        _x = _v12
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v11.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v10.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v10.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v10.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v10.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v10.effort = struct.unpack(pattern, str[start:end])
        _v13 = val1.grasp_posture
        _v14 = _v13.header
        start = end
        end += 4
        (_v14.seq,) = _struct_I.unpack(str[start:end])
        _v15 = _v14.stamp
        _x = _v15
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v14.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v13.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v13.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v13.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v13.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v13.effort = struct.unpack(pattern, str[start:end])
        _v16 = val1.grasp_pose
        _v17 = _v16.position
        _x = _v17
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v18 = _v16.orientation
        _x = _v18
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 9
        (_x.success_probability, _x.cluster_rep,) = _struct_dB.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        self.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attempted_grasp_results = []
      for i in xrange(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.attempted_grasp_results.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_i3I.pack(_x.manipulation_result.value, _x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.position.tostring())
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.position.tostring())
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.velocity.tostring())
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_8dB.pack(_x.grasp.grasp_pose.position.x, _x.grasp.grasp_pose.position.y, _x.grasp.grasp_pose.position.z, _x.grasp.grasp_pose.orientation.x, _x.grasp.grasp_pose.orientation.y, _x.grasp.grasp_pose.orientation.z, _x.grasp.grasp_pose.orientation.w, _x.grasp.success_probability, _x.grasp.cluster_rep))
      length = len(self.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.attempted_grasps:
        _v19 = val1.pre_grasp_posture
        _v20 = _v19.header
        buff.write(_struct_I.pack(_v20.seq))
        _v21 = _v20.stamp
        _x = _v21
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v20.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v19.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v19.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v19.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v19.position.tostring())
        length = len(_v19.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v19.velocity.tostring())
        length = len(_v19.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v19.effort.tostring())
        _v22 = val1.grasp_posture
        _v23 = _v22.header
        buff.write(_struct_I.pack(_v23.seq))
        _v24 = _v23.stamp
        _x = _v24
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v23.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v22.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v22.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v22.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v22.position.tostring())
        length = len(_v22.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v22.velocity.tostring())
        length = len(_v22.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v22.effort.tostring())
        _v25 = val1.grasp_pose
        _v26 = _v25.position
        _x = _v26
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v27 = _v25.orientation
        _x = _v27
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB.pack(_x.success_probability, _x.cluster_rep))
      length = len(self.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.manipulation_result is None:
        self.manipulation_result = object_manipulation_msgs.msg.ManipulationResult()
      if self.grasp is None:
        self.grasp = object_manipulation_msgs.msg.Grasp()
      end = 0
      _x = self
      start = end
      end += 16
      (_x.manipulation_result.value, _x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.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
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.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
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.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
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.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
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 65
      (_x.grasp.grasp_pose.position.x, _x.grasp.grasp_pose.position.y, _x.grasp.grasp_pose.position.z, _x.grasp.grasp_pose.orientation.x, _x.grasp.grasp_pose.orientation.y, _x.grasp.grasp_pose.orientation.z, _x.grasp.grasp_pose.orientation.w, _x.grasp.success_probability, _x.grasp.cluster_rep,) = _struct_8dB.unpack(str[start:end])
      self.grasp.cluster_rep = bool(self.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attempted_grasps = []
      for i in xrange(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v28 = val1.pre_grasp_posture
        _v29 = _v28.header
        start = end
        end += 4
        (_v29.seq,) = _struct_I.unpack(str[start:end])
        _v30 = _v29.stamp
        _x = _v30
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v29.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v28.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v28.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v28.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
        end += struct.calcsize(pattern)
        _v28.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
        end += struct.calcsize(pattern)
        _v28.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v31 = val1.grasp_posture
        _v32 = _v31.header
        start = end
        end += 4
        (_v32.seq,) = _struct_I.unpack(str[start:end])
        _v33 = _v32.stamp
        _x = _v33
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v32.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v31.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v31.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v31.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
        end += struct.calcsize(pattern)
        _v31.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
        end += struct.calcsize(pattern)
        _v31.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v34 = val1.grasp_pose
        _v35 = _v34.position
        _x = _v35
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v36 = _v34.orientation
        _x = _v36
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 9
        (_x.success_probability, _x.cluster_rep,) = _struct_dB.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        self.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attempted_grasp_results = []
      for i in xrange(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.attempted_grasp_results.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_8dB = struct.Struct("<8dB")
_struct_dB = struct.Struct("<dB")
_struct_3I = struct.Struct("<3I")
_struct_i3I = struct.Struct("<i3I")
_struct_4d = struct.Struct("<4d")
_struct_iB = struct.Struct("<iB")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")

---

object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:35:09 2013