_ReactivePlaceAction.py

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

import trajectory_msgs.msg
import object_manipulation_msgs.msg
import roslib.rostime
import actionlib_msgs.msg
import geometry_msgs.msg
import std_msgs.msg

class ReactivePlaceAction(roslib.message.Message):
  _md5sum = "ae0ee2c7f49f2e6b00a5b3a1cc9bde61"
  _type = "object_manipulation_msgs/ReactivePlaceAction"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

ReactivePlaceActionGoal action_goal
ReactivePlaceActionResult action_result
ReactivePlaceActionFeedback action_feedback

================================================================================
MSG: object_manipulation_msgs/ReactivePlaceActionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
ReactivePlaceGoal goal

================================================================================
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: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp

# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id


================================================================================
MSG: object_manipulation_msgs/ReactivePlaceGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for placing the object using tactile sensor feedback.
# a reactive place starts from the current pose of the gripper and ends
# at a desired place pose, presumably using the touch sensors along the way

# the name of the arm being used
string arm_name

# the desired final place pose for the hand
geometry_msgs/PoseStamped final_place_pose

# the joint trajectory to use for the place (if available)
# this trajectory is expected to start at the current pose of the gripper
# and end at the desired place pose
trajectory_msgs/JointTrajectory trajectory

# the name of the support surface in the collision environment, if any
string collision_support_surface_name

# the name in the collision environment of the object being placed, if any
string collision_object_name

================================================================================
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 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: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
================================================================================
MSG: object_manipulation_msgs/ReactivePlaceActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
ReactivePlaceResult result

================================================================================
MSG: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING         = 0   # The goal has yet to be processed by the action server
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
                            #   and has since completed its execution (Terminal State)
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
                            #    to some failure (Terminal State)
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
                            #    because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
                            #    and has not yet completed execution
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
                            #    but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
                            #    and was successfully cancelled (Terminal State)
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
                            #    sent over the wire by an action server

#Allow for the user to associate a string with GoalStatus for debugging
string text


================================================================================
MSG: object_manipulation_msgs/ReactivePlaceResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# the result of the reactive place attempt

ManipulationResult manipulation_result


================================================================================
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/ReactivePlaceActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
ReactivePlaceFeedback feedback

================================================================================
MSG: object_manipulation_msgs/ReactivePlaceFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# which phase the place is in

ManipulationPhase manipulation_phase


================================================================================
MSG: object_manipulation_msgs/ManipulationPhase
int32 CHECKING_FEASIBILITY = 0
int32 MOVING_TO_PREGRASP = 1
int32 MOVING_TO_GRASP = 2
int32 CLOSING = 3 
int32 ADJUSTING_GRASP = 4
int32 LIFTING = 5
int32 MOVING_WITH_OBJECT = 6
int32 MOVING_TO_PLACE = 7
int32 PLACING = 8
int32 OPENING = 9
int32 RETREATING = 10
int32 MOVING_WITHOUT_OBJECT = 11
int32 SHAKING = 12
int32 SUCCEEDED = 13
int32 FAILED = 14
int32 ABORTED = 15
int32 HOLDING_OBJECT = 16

int32 phase
"""
  __slots__ = ['action_goal','action_result','action_feedback']
  _slot_types = ['object_manipulation_msgs/ReactivePlaceActionGoal','object_manipulation_msgs/ReactivePlaceActionResult','object_manipulation_msgs/ReactivePlaceActionFeedback']

  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:
       action_goal,action_result,action_feedback
    
    @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(ReactivePlaceAction, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
    else:
      self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
      self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
      self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()

  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_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.arm_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.final_place_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
      _x = self.action_goal.goal.trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_goal.goal.trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.positions))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.velocities))
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.accelerations))
        _v1 = val1.time_from_start
        _x = _v1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self.action_goal.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_i3I.pack(_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.action_feedback.feedback.manipulation_phase.phase))
    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.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.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.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.arm_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.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.action_goal.goal.final_place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.trajectory.joint_names = []
      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.action_goal.goal.trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = 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)
        val1.velocities = 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)
        val1.accelerations = struct.unpack(pattern, str[start:end])
        _v2 = val1.time_from_start
        _x = _v2
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.action_goal.goal.trajectory.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.collision_object_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.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.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 16
      (_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.text = str[start:end]
      start = end
      end += 4
      (self.action_feedback.feedback.manipulation_phase.phase,) = _struct_i.unpack(str[start:end])
      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_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.arm_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.final_place_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
      _x = self.action_goal.goal.trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_goal.goal.trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.accelerations.tostring())
        _v3 = val1.time_from_start
        _x = _v3
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self.action_goal.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_i3I.pack(_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.action_feedback.feedback.manipulation_phase.phase))
    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.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.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.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.arm_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.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.action_goal.goal.final_place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.trajectory.joint_names = []
      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.action_goal.goal.trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.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
        end += struct.calcsize(pattern)
        val1.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
        end += struct.calcsize(pattern)
        val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v4 = val1.time_from_start
        _x = _v4
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.action_goal.goal.trajectory.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.collision_object_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.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.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 16
      (_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.text = str[start:end]
      start = end
      end += 4
      (self.action_feedback.feedback.manipulation_phase.phase,) = _struct_i.unpack(str[start:end])
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_7d3I = struct.Struct("<7d3I")
_struct_B = struct.Struct("<B")
_struct_i = struct.Struct("<i")
_struct_i3I = struct.Struct("<i3I")
_struct_2I = struct.Struct("<2I")
_struct_3I = struct.Struct("<3I")
_struct_2i = struct.Struct("<2i")

---

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