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_PickupAction.py

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

import arm_navigation_msgs.msg
import object_manipulation_msgs.msg
import roslib.rostime
import actionlib_msgs.msg
import geometry_msgs.msg
import sensor_msgs.msg
import std_msgs.msg
import household_objects_database_msgs.msg

class PickupAction(roslib.message.Message):
  _md5sum = "09990218855ede96047d48c436f6201d"
  _type = "object_manipulation_msgs/PickupAction"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PickupActionGoal action_goal
PickupActionResult action_result
PickupActionFeedback action_feedback

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

Header header
actionlib_msgs/GoalID goal_id
PickupGoal 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/PickupGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for picking up an object

# which arm to be used for grasping
string arm_name

# the object to be grasped
GraspableObject target

# a list of grasps to be used
# if empty, the grasp executive will call one of its own planners
Grasp[] desired_grasps

# how the object should be lifted after the grasp
# the frame_id that this lift is specified in MUST be either the robot_frame 
# or the gripper_frame specified in your hand description file
GripperTranslation lift

# the name that the target object has in the collision map
# can be left empty if no name is available
string collision_object_name

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

# whether reactive grasp execution using tactile sensors should be used
bool use_reactive_execution

# whether reactive object lifting based on tactile sensors should be used
bool use_reactive_lift

# set this to true if you only want to query the manipulation pipeline as to what 
# grasps it thinks are feasible, without actually executing them. If this is set to 
# true, the atempted_grasp_results field of the result will be populated, but no arm 
# movement will be attempted
bool only_perform_feasibility_test

# set this to true if you want to ignore all collisions throughout the pickup 
# and also move directly to the pre-grasp using Cartesian controllers
bool ignore_collisions

# OPTIONAL (These will not have to be filled out most of the time)
# constraints to be imposed on every point in the motion of the arm
arm_navigation_msgs/Constraints path_constraints

# OPTIONAL (These will not have to be filled out most of the time)
# additional collision operations to be used for every arm movement performed
# during grasping. Note that these will be added on top of (and thus overide) other 
# collision operations that the grasping pipeline deems necessary. Should be used
# with care and only if special behaviors are desired
arm_navigation_msgs/OrderedCollisionOperations additional_collision_operations

# OPTIONAL (These will not have to be filled out most of the time)
# additional link paddings to be used for every arm movement performed
# during grasping. Note that these will be added on top of (and thus overide) other 
# link paddings that the grasping pipeline deems necessary. Should be used
# with care and only if special behaviors are desired
arm_navigation_msgs/LinkPadding[] additional_link_padding

# an optional list of obstacles that we have semantic information about
# and that can be moved in the course of grasping
GraspableObject[] movable_obstacles

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


================================================================================
MSG: object_manipulation_msgs/GraspableObject
# an object that the object_manipulator can work on

# a graspable object can be represented in multiple ways. This message
# can contain all of them. Which one is actually used is up to the receiver
# of this message. When adding new representations, one must be careful that
# they have reasonable lightweight defaults indicating that that particular
# representation is not available.

# the tf frame to be used as a reference frame when combining information from
# the different representations below
string reference_frame_id

# potential recognition results from a database of models
# all poses are relative to the object reference pose
household_objects_database_msgs/DatabaseModelPose[] potential_models

# the point cloud itself
sensor_msgs/PointCloud cluster

# a region of a PointCloud2 of interest
object_manipulation_msgs/SceneRegion region

# the name that this object has in the collision environment
string collision_name
================================================================================
MSG: household_objects_database_msgs/DatabaseModelPose
# Informs that a specific model from the Model Database has been 
# identified at a certain location

# the database id of the model
int32 model_id

# the pose that it can be found in
geometry_msgs/PoseStamped pose

# a measure of the confidence level in this detection result
float32 confidence

# the name of the object detector that generated this detection result
string detector_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: sensor_msgs/PointCloud
# This message holds a collection of 3d points, plus optional additional
# information about each point.

# Time of sensor data acquisition, coordinate frame ID.
Header header

# Array of 3d points. Each Point32 should be interpreted as a 3d point
# in the frame given in the header.
geometry_msgs/Point32[] points

# Each channel should have the same number of elements as points array,
# and the data in each channel should correspond 1:1 with each point.
# Channel names in common practice are listed in ChannelFloat32.msg.
ChannelFloat32[] channels

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
================================================================================
MSG: sensor_msgs/ChannelFloat32
# This message is used by the PointCloud message to hold optional data
# associated with each point in the cloud. The length of the values
# array should be the same as the length of the points array in the
# PointCloud, and each value should be associated with the corresponding
# point.

# Channel names in existing practice include:
#   "u", "v" - row and column (respectively) in the left stereo image.
#              This is opposite to usual conventions but remains for
#              historical reasons. The newer PointCloud2 message has no
#              such problem.
#   "rgb" - For point clouds produced by color stereo cameras. uint8
#           (R,G,B) values packed into the least significant 24 bits,
#           in order.
#   "intensity" - laser or pixel intensity.
#   "distance"

# The channel name should give semantics of the channel (e.g.
# "intensity" instead of "value").
string name

# The values array should be 1-1 with the elements of the associated
# PointCloud.
float32[] values

================================================================================
MSG: object_manipulation_msgs/SceneRegion
# Point cloud
sensor_msgs/PointCloud2 cloud

# Indices for the region of interest
int32[] mask

# One of the corresponding 2D images, if applicable
sensor_msgs/Image image

# The disparity image, if applicable
sensor_msgs/Image disparity_image

# Camera info for the camera that took the image
sensor_msgs/CameraInfo cam_info

# a 3D region of interest for grasp planning
geometry_msgs/PoseStamped  roi_box_pose
geometry_msgs/Vector3      roi_box_dims

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

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

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

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

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

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

bool is_dense        # True if there are no invalid points

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

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

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

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

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

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

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

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

================================================================================
MSG: sensor_msgs/CameraInfo
# This message defines meta information for a camera. It should be in a
# camera namespace on topic "camera_info" and accompanied by up to five
# image topics named:
#
#   image_raw - raw data from the camera driver, possibly Bayer encoded
#   image            - monochrome, distorted
#   image_color      - color, distorted
#   image_rect       - monochrome, rectified
#   image_rect_color - color, rectified
#
# The image_pipeline contains packages (image_proc, stereo_image_proc)
# for producing the four processed image topics from image_raw and
# camera_info. The meaning of the camera parameters are described in
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
#
# The image_geometry package provides a user-friendly interface to
# common operations using this meta information. If you want to, e.g.,
# project a 3d point into image coordinates, we strongly recommend
# using image_geometry.
#
# If the camera is uncalibrated, the matrices D, K, R, P should be left
# zeroed out. In particular, clients may assume that K[0] == 0.0
# indicates an uncalibrated camera.

#######################################################################
#                     Image acquisition info                          #
#######################################################################

# Time of image acquisition, camera coordinate frame ID
Header header    # Header timestamp should be acquisition time of image
                 # Header frame_id should be optical frame of camera
                 # origin of frame should be optical center of camera
                 # +x should point to the right in the image
                 # +y should point down in the image
                 # +z should point into the plane of the image


#######################################################################
#                      Calibration Parameters                         #
#######################################################################
# These are fixed during camera calibration. Their values will be the #
# same in all messages until the camera is recalibrated. Note that    #
# self-calibrating systems may "recalibrate" frequently.              #
#                                                                     #
# The internal parameters can be used to warp a raw (distorted) image #
# to:                                                                 #
#   1. An undistorted image (requires D and K)                        #
#   2. A rectified image (requires D, K, R)                           #
# The projection matrix P projects 3D points into the rectified image.#
#######################################################################

# The image dimensions with which the camera was calibrated. Normally
# this will be the full camera resolution in pixels.
uint32 height
uint32 width

# The distortion model used. Supported models are listed in
# sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a
# simple model of radial and tangential distortion - is sufficent.
string distortion_model

# The distortion parameters, size depending on the distortion model.
# For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
float64[] D

# Intrinsic camera matrix for the raw (distorted) images.
#     [fx  0 cx]
# K = [ 0 fy cy]
#     [ 0  0  1]
# Projects 3D points in the camera coordinate frame to 2D pixel
# coordinates using the focal lengths (fx, fy) and principal point
# (cx, cy).
float64[9]  K # 3x3 row-major matrix

# Rectification matrix (stereo cameras only)
# A rotation matrix aligning the camera coordinate system to the ideal
# stereo image plane so that epipolar lines in both stereo images are
# parallel.
float64[9]  R # 3x3 row-major matrix

# Projection/camera matrix
#     [fx'  0  cx' Tx]
# P = [ 0  fy' cy' Ty]
#     [ 0   0   1   0]
# By convention, this matrix specifies the intrinsic (camera) matrix
#  of the processed (rectified) image. That is, the left 3x3 portion
#  is the normal camera intrinsic matrix for the rectified image.
# It projects 3D points in the camera coordinate frame to 2D pixel
#  coordinates using the focal lengths (fx', fy') and principal point
#  (cx', cy') - these may differ from the values in K.
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
#  also have R = the identity and P[1:3,1:3] = K.
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the
#  position of the optical center of the second camera in the first
#  camera's frame. We assume Tz = 0 so both cameras are in the same
#  stereo image plane. The first camera always has Tx = Ty = 0. For
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and
#  Tx = -fx' * B, where B is the baseline between the cameras.
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto
#  the rectified image is given by:
#  [u v w]' = P * [X Y Z 1]'
#         x = u / w
#         y = v / w
#  This holds for both images of a stereo pair.
float64[12] P # 3x4 row-major matrix


#######################################################################
#                      Operational Parameters                         #
#######################################################################
# These define the image region actually captured by the camera       #
# driver. Although they affect the geometry of the output image, they #
# may be changed freely without recalibrating the camera.             #
#######################################################################

# Binning refers here to any camera setting which combines rectangular
#  neighborhoods of pixels into larger "super-pixels." It reduces the
#  resolution of the output image to
#  (width / binning_x) x (height / binning_y).
# The default values binning_x = binning_y = 0 is considered the same
#  as binning_x = binning_y = 1 (no subsampling).
uint32 binning_x
uint32 binning_y

# Region of interest (subwindow of full camera resolution), given in
#  full resolution (unbinned) image coordinates. A particular ROI
#  always denotes the same window of pixels on the camera sensor,
#  regardless of binning settings.
# The default setting of roi (all values 0) is considered the same as
#  full resolution (roi.width = width, roi.height = height).
RegionOfInterest roi

================================================================================
MSG: sensor_msgs/RegionOfInterest
# This message is used to specify a region of interest within an image.
#
# When used to specify the ROI setting of the camera when the image was
# taken, the height and width fields should either match the height and
# width fields for the associated image; or height = width = 0
# indicates that the full resolution image was captured.

uint32 x_offset  # Leftmost pixel of the ROI
                 # (0 if the ROI includes the left edge of the image)
uint32 y_offset  # Topmost pixel of the ROI
                 # (0 if the ROI includes the top edge of the image)
uint32 height    # Height of ROI
uint32 width     # Width of ROI

# True if a distinct rectified ROI should be calculated from the "raw"
# ROI in this message. Typically this should be False if the full image
# is captured (ROI not used), and True if a subwindow is captured (ROI
# used).
bool do_rectify

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

float64 x
float64 y
float64 z
================================================================================
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 a reference frame 
# (that is always specified elsewhere, not in this message)
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

# how far the pre-grasp should ideally be away from the grasp
float32 desired_approach_distance

# how much distance between pre-grasp and grasp must actually be feasible 
# for the grasp not to be rejected
float32 min_approach_distance

# an optional list of obstacles that we have semantic information about
# and that we expect might move in the course of executing this grasp
# the grasp planner is expected to make sure they move in an OK way; during
# execution, grasp executors will not check for collisions against these objects
GraspableObject[] moved_obstacles

================================================================================
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: object_manipulation_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: arm_navigation_msgs/Constraints
# This message contains a list of motion planning constraints.

arm_navigation_msgs/JointConstraint[] joint_constraints
arm_navigation_msgs/PositionConstraint[] position_constraints
arm_navigation_msgs/OrientationConstraint[] orientation_constraints
arm_navigation_msgs/VisibilityConstraint[] visibility_constraints

================================================================================
MSG: arm_navigation_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
float64 weight
================================================================================
MSG: arm_navigation_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/Point target_point_offset

# The nominal/target position for the point we are planning for
geometry_msgs/Point position

# The shape of the bounded region that constrains the position of the end-effector
# This region is always centered at the position defined above
arm_navigation_msgs/Shape constraint_region_shape

# The orientation of the bounded region that constrains the position of the end-effector. 
# This allows the specification of non-axis aligned constraints
geometry_msgs/Quaternion constraint_region_orientation

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: arm_navigation_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

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

# The robot link this constraint refers to
string link_name

# The type of the constraint
int32 type
int32 LINK_FRAME=0
int32 HEADER_FRAME=1

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

# optional RPY error tolerances specified if 
float64 absolute_roll_tolerance
float64 absolute_pitch_tolerance
float64 absolute_yaw_tolerance

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: arm_navigation_msgs/VisibilityConstraint
# This message contains the definition of a visibility constraint.
Header header

# The point stamped target that needs to be kept within view of the sensor
geometry_msgs/PointStamped target

# The local pose of the frame in which visibility is to be maintained
# The frame id should represent the robot link to which the sensor is attached
# The visual axis of the sensor is assumed to be along the X axis of this frame
geometry_msgs/PoseStamped sensor_pose

# The deviation (in radians) that will be tolerated
# Constraint error will be measured as the solid angle between the 
# X axis of the frame defined above and the vector between the origin 
# of the frame defined above and the target location
float64 absolute_tolerance


================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

================================================================================
MSG: arm_navigation_msgs/OrderedCollisionOperations
# A set of collision operations that will be performed in the order they are specified
CollisionOperation[] collision_operations
================================================================================
MSG: arm_navigation_msgs/CollisionOperation
# A definition of a collision operation
# E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
# between the gripper and all objects in the collision space

string object1
string object2
string COLLISION_SET_ALL="all"
string COLLISION_SET_OBJECTS="objects"
string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.
float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
int32 operation
int32 DISABLE=0
int32 ENABLE=1

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

# padding to apply to the link
float64 padding

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

Header header
actionlib_msgs/GoalStatus status
PickupResult 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/PickupResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# 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/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

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

Header header
actionlib_msgs/GoalStatus status
PickupFeedback feedback

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

# The number of the grasp currently being attempted
int32 current_grasp

# The total number of grasps that will be attempted
int32 total_grasps


"""
  __slots__ = ['action_goal','action_result','action_feedback']
  _slot_types = ['object_manipulation_msgs/PickupActionGoal','object_manipulation_msgs/PickupActionResult','object_manipulation_msgs/PickupActionFeedback']

  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(PickupAction, 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.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
    else:
      self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()

  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.action_goal.goal.target.reference_frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v1 = val1.pose
        _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))
        _v4 = _v1.pose
        _v5 = _v4.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = _v4.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_f.pack(val1.confidence))
        _x = val1.detector_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs))
      _x = self.action_goal.goal.target.cluster.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.values))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cloud.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.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width))
      length = len(self.action_goal.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
      _x = self
      buff.write(_struct_B2I.pack(_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step))
      _x = self.action_goal.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_goal.goal.target.region.cloud.is_dense))
      length = len(self.action_goal.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.action_goal.goal.target.region.mask))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.image.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.target.region.image.height, _x.action_goal.goal.target.region.image.width))
      _x = self.action_goal.goal.target.region.image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step))
      _x = self.action_goal.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.disparity_image.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.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width))
      _x = self.action_goal.goal.target.region.disparity_image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step))
      _x = self.action_goal.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cam_info.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.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width))
      _x = self.action_goal.goal.target.region.cam_info.distortion_model
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_goal.goal.target.region.cam_info.D))
      buff.write(_struct_9d.pack(*self.action_goal.goal.target.region.cam_info.K))
      buff.write(_struct_9d.pack(*self.action_goal.goal.target.region.cam_info.R))
      buff.write(_struct_12d.pack(*self.action_goal.goal.target.region.cam_info.P))
      _x = self
      buff.write(_struct_6IB3I.pack(_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z))
      _x = self.action_goal.goal.target.collision_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.desired_grasps:
        _v7 = val1.pre_grasp_posture
        _v8 = _v7.header
        buff.write(_struct_I.pack(_v8.seq))
        _v9 = _v8.stamp
        _x = _v9
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v8.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v7.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v7.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v7.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.position))
        length = len(_v7.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.velocity))
        length = len(_v7.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.effort))
        _v10 = val1.grasp_posture
        _v11 = _v10.header
        buff.write(_struct_I.pack(_v11.seq))
        _v12 = _v11.stamp
        _x = _v12
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v11.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v10.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v10.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v10.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.position))
        length = len(_v10.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.velocity))
        length = len(_v10.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.effort))
        _v13 = val1.grasp_pose
        _v14 = _v13.position
        _x = _v14
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = _v13.orientation
        _x = _v15
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v16 = val3.pose
            _v17 = _v16.header
            buff.write(_struct_I.pack(_v17.seq))
            _v18 = _v17.stamp
            _x = _v18
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v17.frame_id
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v19 = _v16.pose
            _v20 = _v19.position
            _x = _v20
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v21 = _v19.orientation
            _x = _v21
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v22 = val2.cluster
          _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.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v22.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v22.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v22.channels:
            _x = val4.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(struct.pack(pattern, *val4.values))
          _v25 = val2.region
          _v26 = _v25.cloud
          _v27 = _v26.header
          buff.write(_struct_I.pack(_v27.seq))
          _v28 = _v27.stamp
          _x = _v28
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v27.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v26
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v26.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v26.fields:
            _x = val5.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v26
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v26.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v26.is_dense))
          length = len(_v25.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *_v25.mask))
          _v29 = _v25.image
          _v30 = _v29.header
          buff.write(_struct_I.pack(_v30.seq))
          _v31 = _v30.stamp
          _x = _v31
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v30.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v29
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v29.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v29
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v29.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v32 = _v25.disparity_image
          _v33 = _v32.header
          buff.write(_struct_I.pack(_v33.seq))
          _v34 = _v33.stamp
          _x = _v34
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v33.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v32
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v32.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v32
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v32.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v35 = _v25.cam_info
          _v36 = _v35.header
          buff.write(_struct_I.pack(_v36.seq))
          _v37 = _v36.stamp
          _x = _v37
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v36.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v35
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v35.distortion_model
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v35.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *_v35.D))
          buff.write(_struct_9d.pack(*_v35.K))
          buff.write(_struct_9d.pack(*_v35.R))
          buff.write(_struct_12d.pack(*_v35.P))
          _x = _v35
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v38 = _v35.roi
          _x = _v38
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v39 = _v25.roi_box_pose
          _v40 = _v39.header
          buff.write(_struct_I.pack(_v40.seq))
          _v41 = _v40.stamp
          _x = _v41
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v40.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v42 = _v39.pose
          _v43 = _v42.position
          _x = _v43
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v44 = _v42.orientation
          _x = _v44
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v45 = _v25.roi_box_dims
          _x = _v45
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs))
      _x = self.action_goal.goal.lift.direction.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_5B.pack(_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v46 = val1.header
        buff.write(_struct_I.pack(_v46.seq))
        _v47 = _v46.stamp
        _x = _v47
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v46.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v48 = val1.target_point_offset
        _x = _v48
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v49 = val1.position
        _x = _v49
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v50 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v50.type))
        length = len(_v50.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v50.dimensions))
        length = len(_v50.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v50.triangles))
        length = len(_v50.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v51 = val1.constraint_region_orientation
        _x = _v51
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v52 = val1.header
        buff.write(_struct_I.pack(_v52.seq))
        _v53 = _v52.stamp
        _x = _v53
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v52.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v54 = val1.orientation
        _x = _v54
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _v55 = val1.header
        buff.write(_struct_I.pack(_v55.seq))
        _v56 = _v55.stamp
        _x = _v56
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v55.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v57 = val1.target
        _v58 = _v57.header
        buff.write(_struct_I.pack(_v58.seq))
        _v59 = _v58.stamp
        _x = _v59
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v58.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v60 = _v57.point
        _x = _v60
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v61 = val1.sensor_pose
        _v62 = _v61.header
        buff.write(_struct_I.pack(_v62.seq))
        _v63 = _v62.stamp
        _x = _v63
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v62.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v64 = _v61.pose
        _v65 = _v64.position
        _x = _v65
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v66 = _v64.orientation
        _x = _v66
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.action_goal.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.action_goal.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.action_goal.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v67 = val2.pose
          _v68 = _v67.header
          buff.write(_struct_I.pack(_v68.seq))
          _v69 = _v68.stamp
          _x = _v69
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v68.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v70 = _v67.pose
          _v71 = _v70.position
          _x = _v71
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v72 = _v70.orientation
          _x = _v72
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v73 = val1.cluster
        _v74 = _v73.header
        buff.write(_struct_I.pack(_v74.seq))
        _v75 = _v74.stamp
        _x = _v75
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v74.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v73.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v73.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v73.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v73.channels:
          _x = val3.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(struct.pack(pattern, *val3.values))
        _v76 = val1.region
        _v77 = _v76.cloud
        _v78 = _v77.header
        buff.write(_struct_I.pack(_v78.seq))
        _v79 = _v78.stamp
        _x = _v79
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v78.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v77
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v77.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v77.fields:
          _x = val4.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v77
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v77.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(_v77.is_dense))
        length = len(_v76.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v76.mask))
        _v80 = _v76.image
        _v81 = _v80.header
        buff.write(_struct_I.pack(_v81.seq))
        _v82 = _v81.stamp
        _x = _v82
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v81.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v80
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v80.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v80
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v80.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v83 = _v76.disparity_image
        _v84 = _v83.header
        buff.write(_struct_I.pack(_v84.seq))
        _v85 = _v84.stamp
        _x = _v85
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v84.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v83
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v83.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v83
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v83.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v86 = _v76.cam_info
        _v87 = _v86.header
        buff.write(_struct_I.pack(_v87.seq))
        _v88 = _v87.stamp
        _x = _v88
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v87.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v86
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v86.distortion_model
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v86.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v86.D))
        buff.write(_struct_9d.pack(*_v86.K))
        buff.write(_struct_9d.pack(*_v86.R))
        buff.write(_struct_12d.pack(*_v86.P))
        _x = _v86
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v89 = _v86.roi
        _x = _v89
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v90 = _v76.roi_box_pose
        _v91 = _v90.header
        buff.write(_struct_I.pack(_v91.seq))
        _v92 = _v91.stamp
        _x = _v92
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v91.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v93 = _v90.pose
        _v94 = _v93.position
        _x = _v94
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v95 = _v93.orientation
        _x = _v95
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v96 = _v76.roi_box_dims
        _x = _v96
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_f3I.pack(_x.action_goal.goal.max_contact_force, _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_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_result.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.position))
      length = len(self.action_result.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.velocity))
      length = len(self.action_result.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_result.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.position))
      length = len(self.action_result.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.velocity))
      length = len(self.action_result.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_8dB2f.pack(_x.action_result.result.grasp.grasp_pose.position.x, _x.action_result.result.grasp.grasp_pose.position.y, _x.action_result.result.grasp.grasp_pose.position.z, _x.action_result.result.grasp.grasp_pose.orientation.x, _x.action_result.result.grasp.grasp_pose.orientation.y, _x.action_result.result.grasp.grasp_pose.orientation.z, _x.action_result.result.grasp.grasp_pose.orientation.w, _x.action_result.result.grasp.success_probability, _x.action_result.result.grasp.cluster_rep, _x.action_result.result.grasp.desired_approach_distance, _x.action_result.result.grasp.min_approach_distance))
      length = len(self.action_result.result.grasp.moved_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.moved_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v97 = val2.pose
          _v98 = _v97.header
          buff.write(_struct_I.pack(_v98.seq))
          _v99 = _v98.stamp
          _x = _v99
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v98.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v100 = _v97.pose
          _v101 = _v100.position
          _x = _v101
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v102 = _v100.orientation
          _x = _v102
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v103 = val1.cluster
        _v104 = _v103.header
        buff.write(_struct_I.pack(_v104.seq))
        _v105 = _v104.stamp
        _x = _v105
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v104.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v103.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v103.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v103.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v103.channels:
          _x = val3.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(struct.pack(pattern, *val3.values))
        _v106 = val1.region
        _v107 = _v106.cloud
        _v108 = _v107.header
        buff.write(_struct_I.pack(_v108.seq))
        _v109 = _v108.stamp
        _x = _v109
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v108.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v107
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v107.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v107.fields:
          _x = val4.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v107
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v107.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(_v107.is_dense))
        length = len(_v106.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v106.mask))
        _v110 = _v106.image
        _v111 = _v110.header
        buff.write(_struct_I.pack(_v111.seq))
        _v112 = _v111.stamp
        _x = _v112
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v111.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v110
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v110.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v110
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v110.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v113 = _v106.disparity_image
        _v114 = _v113.header
        buff.write(_struct_I.pack(_v114.seq))
        _v115 = _v114.stamp
        _x = _v115
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v114.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v113
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v113.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v113
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v113.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v116 = _v106.cam_info
        _v117 = _v116.header
        buff.write(_struct_I.pack(_v117.seq))
        _v118 = _v117.stamp
        _x = _v118
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v117.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v116
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v116.distortion_model
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v116.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v116.D))
        buff.write(_struct_9d.pack(*_v116.K))
        buff.write(_struct_9d.pack(*_v116.R))
        buff.write(_struct_12d.pack(*_v116.P))
        _x = _v116
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v119 = _v116.roi
        _x = _v119
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v120 = _v106.roi_box_pose
        _v121 = _v120.header
        buff.write(_struct_I.pack(_v121.seq))
        _v122 = _v121.stamp
        _x = _v122
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v121.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v123 = _v120.pose
        _v124 = _v123.position
        _x = _v124
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v125 = _v123.orientation
        _x = _v125
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v126 = _v106.roi_box_dims
        _x = _v126
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasps:
        _v127 = val1.pre_grasp_posture
        _v128 = _v127.header
        buff.write(_struct_I.pack(_v128.seq))
        _v129 = _v128.stamp
        _x = _v129
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v128.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v127.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v127.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v127.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v127.position))
        length = len(_v127.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v127.velocity))
        length = len(_v127.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v127.effort))
        _v130 = val1.grasp_posture
        _v131 = _v130.header
        buff.write(_struct_I.pack(_v131.seq))
        _v132 = _v131.stamp
        _x = _v132
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v131.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v130.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v130.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v130.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v130.position))
        length = len(_v130.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v130.velocity))
        length = len(_v130.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v130.effort))
        _v133 = val1.grasp_pose
        _v134 = _v133.position
        _x = _v134
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v135 = _v133.orientation
        _x = _v135
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v136 = val3.pose
            _v137 = _v136.header
            buff.write(_struct_I.pack(_v137.seq))
            _v138 = _v137.stamp
            _x = _v138
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v137.frame_id
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v139 = _v136.pose
            _v140 = _v139.position
            _x = _v140
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v141 = _v139.orientation
            _x = _v141
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v142 = val2.cluster
          _v143 = _v142.header
          buff.write(_struct_I.pack(_v143.seq))
          _v144 = _v143.stamp
          _x = _v144
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v143.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v142.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v142.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v142.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v142.channels:
            _x = val4.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(struct.pack(pattern, *val4.values))
          _v145 = val2.region
          _v146 = _v145.cloud
          _v147 = _v146.header
          buff.write(_struct_I.pack(_v147.seq))
          _v148 = _v147.stamp
          _x = _v148
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v147.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v146
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v146.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v146.fields:
            _x = val5.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v146
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v146.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v146.is_dense))
          length = len(_v145.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *_v145.mask))
          _v149 = _v145.image
          _v150 = _v149.header
          buff.write(_struct_I.pack(_v150.seq))
          _v151 = _v150.stamp
          _x = _v151
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v150.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v149
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v149.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v149
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v149.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v152 = _v145.disparity_image
          _v153 = _v152.header
          buff.write(_struct_I.pack(_v153.seq))
          _v154 = _v153.stamp
          _x = _v154
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v153.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v152
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v152.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v152
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v152.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v155 = _v145.cam_info
          _v156 = _v155.header
          buff.write(_struct_I.pack(_v156.seq))
          _v157 = _v156.stamp
          _x = _v157
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v156.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v155
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v155.distortion_model
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v155.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *_v155.D))
          buff.write(_struct_9d.pack(*_v155.K))
          buff.write(_struct_9d.pack(*_v155.R))
          buff.write(_struct_12d.pack(*_v155.P))
          _x = _v155
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v158 = _v155.roi
          _x = _v158
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v159 = _v145.roi_box_pose
          _v160 = _v159.header
          buff.write(_struct_I.pack(_v160.seq))
          _v161 = _v160.stamp
          _x = _v161
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v160.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v162 = _v159.pose
          _v163 = _v162.position
          _x = _v163
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v164 = _v162.orientation
          _x = _v164
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v165 = _v145.roi_box_dims
          _x = _v165
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
      _x = self
      buff.write(_struct_3I.pack(_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))
      _x = self
      buff.write(_struct_2i.pack(_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
      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]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v166 = val1.pose
        _v167 = _v166.header
        start = end
        end += 4
        (_v167.seq,) = _struct_I.unpack(str[start:end])
        _v168 = _v167.stamp
        _x = _v168
        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
        _v167.frame_id = str[start:end]
        _v169 = _v166.pose
        _v170 = _v169.position
        _x = _v170
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v171 = _v169.orientation
        _x = _v171
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (val1.confidence,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.detector_name = str[start:end]
        self.action_goal.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.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.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.action_goal.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = struct.unpack(pattern, str[start:end])
        self.action_goal.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.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.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.action_goal.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_bigendian = bool(self.action_goal.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_dense = bool(self.action_goal.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.mask = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.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.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width,) = _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.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.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.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width,) = _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.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.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.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width,) = _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.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.cam_info.D = struct.unpack(pattern, str[start:end])
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.K = _struct_9d.unpack(str[start:end])
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.R = _struct_9d.unpack(str[start:end])
      start = end
      end += 96
      self.action_goal.goal.target.region.cam_info.P = _struct_12d.unpack(str[start:end])
      _x = self
      start = end
      end += 37
      (_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.action_goal.goal.target.region.cam_info.roi.do_rectify = bool(self.action_goal.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.desired_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v172 = val1.pre_grasp_posture
        _v173 = _v172.header
        start = end
        end += 4
        (_v173.seq,) = _struct_I.unpack(str[start:end])
        _v174 = _v173.stamp
        _x = _v174
        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
        _v173.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v172.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v172.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v172.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)
        _v172.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)
        _v172.effort = struct.unpack(pattern, str[start:end])
        _v175 = val1.grasp_posture
        _v176 = _v175.header
        start = end
        end += 4
        (_v176.seq,) = _struct_I.unpack(str[start:end])
        _v177 = _v176.stamp
        _x = _v177
        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
        _v176.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v175.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v175.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v175.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)
        _v175.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)
        _v175.effort = struct.unpack(pattern, str[start:end])
        _v178 = val1.grasp_pose
        _v179 = _v178.position
        _x = _v179
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v180 = _v178.orientation
        _x = _v180
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v181 = val3.pose
            _v182 = _v181.header
            start = end
            end += 4
            (_v182.seq,) = _struct_I.unpack(str[start:end])
            _v183 = _v182.stamp
            _x = _v183
            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
            _v182.frame_id = str[start:end]
            _v184 = _v181.pose
            _v185 = _v184.position
            _x = _v185
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v186 = _v184.orientation
            _x = _v186
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v187 = val2.cluster
          _v188 = _v187.header
          start = end
          end += 4
          (_v188.seq,) = _struct_I.unpack(str[start:end])
          _v189 = _v188.stamp
          _x = _v189
          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
          _v188.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v187.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v187.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v187.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = struct.unpack(pattern, str[start:end])
            _v187.channels.append(val4)
          _v190 = val2.region
          _v191 = _v190.cloud
          _v192 = _v191.header
          start = end
          end += 4
          (_v192.seq,) = _struct_I.unpack(str[start:end])
          _v193 = _v192.stamp
          _x = _v193
          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
          _v192.frame_id = str[start:end]
          _x = _v191
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v191.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v191.fields.append(val5)
          _x = _v191
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v191.is_bigendian = bool(_v191.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v191.data = str[start:end]
          start = end
          end += 1
          (_v191.is_dense,) = _struct_B.unpack(str[start:end])
          _v191.is_dense = bool(_v191.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v190.mask = struct.unpack(pattern, str[start:end])
          _v194 = _v190.image
          _v195 = _v194.header
          start = end
          end += 4
          (_v195.seq,) = _struct_I.unpack(str[start:end])
          _v196 = _v195.stamp
          _x = _v196
          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
          _v195.frame_id = str[start:end]
          _x = _v194
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v194.encoding = str[start:end]
          _x = _v194
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v194.data = str[start:end]
          _v197 = _v190.disparity_image
          _v198 = _v197.header
          start = end
          end += 4
          (_v198.seq,) = _struct_I.unpack(str[start:end])
          _v199 = _v198.stamp
          _x = _v199
          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
          _v198.frame_id = str[start:end]
          _x = _v197
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v197.encoding = str[start:end]
          _x = _v197
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v197.data = str[start:end]
          _v200 = _v190.cam_info
          _v201 = _v200.header
          start = end
          end += 4
          (_v201.seq,) = _struct_I.unpack(str[start:end])
          _v202 = _v201.stamp
          _x = _v202
          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
          _v201.frame_id = str[start:end]
          _x = _v200
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v200.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v200.D = struct.unpack(pattern, str[start:end])
          start = end
          end += 72
          _v200.K = _struct_9d.unpack(str[start:end])
          start = end
          end += 72
          _v200.R = _struct_9d.unpack(str[start:end])
          start = end
          end += 96
          _v200.P = _struct_12d.unpack(str[start:end])
          _x = _v200
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v203 = _v200.roi
          _x = _v203
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v203.do_rectify = bool(_v203.do_rectify)
          _v204 = _v190.roi_box_pose
          _v205 = _v204.header
          start = end
          end += 4
          (_v205.seq,) = _struct_I.unpack(str[start:end])
          _v206 = _v205.stamp
          _x = _v206
          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
          _v205.frame_id = str[start:end]
          _v207 = _v204.pose
          _v208 = _v207.position
          _x = _v208
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v209 = _v207.orientation
          _x = _v209
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v210 = _v190.roi_box_dims
          _x = _v210
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.action_goal.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.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.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance,) = _struct_3d2f.unpack(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]
      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]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      self.action_goal.goal.use_reactive_execution = bool(self.action_goal.goal.use_reactive_execution)
      self.action_goal.goal.use_reactive_lift = bool(self.action_goal.goal.use_reactive_lift)
      self.action_goal.goal.only_perform_feasibility_test = bool(self.action_goal.goal.only_perform_feasibility_test)
      self.action_goal.goal.ignore_collisions = bool(self.action_goal.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v211 = val1.header
        start = end
        end += 4
        (_v211.seq,) = _struct_I.unpack(str[start:end])
        _v212 = _v211.stamp
        _x = _v212
        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
        _v211.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v213 = val1.target_point_offset
        _x = _v213
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v214 = val1.position
        _x = _v214
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v215 = val1.constraint_region_shape
        start = end
        end += 1
        (_v215.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v215.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v215.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v215.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v215.vertices.append(val3)
        _v216 = val1.constraint_region_orientation
        _x = _v216
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v217 = val1.header
        start = end
        end += 4
        (_v217.seq,) = _struct_I.unpack(str[start:end])
        _v218 = _v217.stamp
        _x = _v218
        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
        _v217.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v219 = val1.orientation
        _x = _v219
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v220 = val1.header
        start = end
        end += 4
        (_v220.seq,) = _struct_I.unpack(str[start:end])
        _v221 = _v220.stamp
        _x = _v221
        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
        _v220.frame_id = str[start:end]
        _v222 = val1.target
        _v223 = _v222.header
        start = end
        end += 4
        (_v223.seq,) = _struct_I.unpack(str[start:end])
        _v224 = _v223.stamp
        _x = _v224
        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
        _v223.frame_id = str[start:end]
        _v225 = _v222.point
        _x = _v225
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v226 = val1.sensor_pose
        _v227 = _v226.header
        start = end
        end += 4
        (_v227.seq,) = _struct_I.unpack(str[start:end])
        _v228 = _v227.stamp
        _x = _v228
        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
        _v227.frame_id = str[start:end]
        _v229 = _v226.pose
        _v230 = _v229.position
        _x = _v230
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v231 = _v229.orientation
        _x = _v231
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.action_goal.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v232 = val2.pose
          _v233 = _v232.header
          start = end
          end += 4
          (_v233.seq,) = _struct_I.unpack(str[start:end])
          _v234 = _v233.stamp
          _x = _v234
          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
          _v233.frame_id = str[start:end]
          _v235 = _v232.pose
          _v236 = _v235.position
          _x = _v236
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v237 = _v235.orientation
          _x = _v237
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v238 = val1.cluster
        _v239 = _v238.header
        start = end
        end += 4
        (_v239.seq,) = _struct_I.unpack(str[start:end])
        _v240 = _v239.stamp
        _x = _v240
        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
        _v239.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v238.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v238.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v238.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = struct.unpack(pattern, str[start:end])
          _v238.channels.append(val3)
        _v241 = val1.region
        _v242 = _v241.cloud
        _v243 = _v242.header
        start = end
        end += 4
        (_v243.seq,) = _struct_I.unpack(str[start:end])
        _v244 = _v243.stamp
        _x = _v244
        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
        _v243.frame_id = str[start:end]
        _x = _v242
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v242.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v242.fields.append(val4)
        _x = _v242
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v242.is_bigendian = bool(_v242.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v242.data = str[start:end]
        start = end
        end += 1
        (_v242.is_dense,) = _struct_B.unpack(str[start:end])
        _v242.is_dense = bool(_v242.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v241.mask = struct.unpack(pattern, str[start:end])
        _v245 = _v241.image
        _v246 = _v245.header
        start = end
        end += 4
        (_v246.seq,) = _struct_I.unpack(str[start:end])
        _v247 = _v246.stamp
        _x = _v247
        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
        _v246.frame_id = str[start:end]
        _x = _v245
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v245.encoding = str[start:end]
        _x = _v245
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v245.data = str[start:end]
        _v248 = _v241.disparity_image
        _v249 = _v248.header
        start = end
        end += 4
        (_v249.seq,) = _struct_I.unpack(str[start:end])
        _v250 = _v249.stamp
        _x = _v250
        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
        _v249.frame_id = str[start:end]
        _x = _v248
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v248.encoding = str[start:end]
        _x = _v248
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v248.data = str[start:end]
        _v251 = _v241.cam_info
        _v252 = _v251.header
        start = end
        end += 4
        (_v252.seq,) = _struct_I.unpack(str[start:end])
        _v253 = _v252.stamp
        _x = _v253
        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
        _v252.frame_id = str[start:end]
        _x = _v251
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v251.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v251.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v251.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v251.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v251.P = _struct_12d.unpack(str[start:end])
        _x = _v251
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v254 = _v251.roi
        _x = _v254
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v254.do_rectify = bool(_v254.do_rectify)
        _v255 = _v241.roi_box_pose
        _v256 = _v255.header
        start = end
        end += 4
        (_v256.seq,) = _struct_I.unpack(str[start:end])
        _v257 = _v256.stamp
        _x = _v257
        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
        _v256.frame_id = str[start:end]
        _v258 = _v255.pose
        _v259 = _v258.position
        _x = _v259
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v260 = _v258.orientation
        _x = _v260
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v261 = _v241.roi_box_dims
        _x = _v261
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.collision_name = str[start:end]
        self.action_goal.goal.movable_obstacles.append(val1)
      _x = self
      start = end
      end += 16
      (_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_f3I.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_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.action_result.result.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.action_result.result.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.action_result.result.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.action_result.result.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.action_result.result.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.action_result.result.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.action_result.result.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.action_result.result.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 73
      (_x.action_result.result.grasp.grasp_pose.position.x, _x.action_result.result.grasp.grasp_pose.position.y, _x.action_result.result.grasp.grasp_pose.position.z, _x.action_result.result.grasp.grasp_pose.orientation.x, _x.action_result.result.grasp.grasp_pose.orientation.y, _x.action_result.result.grasp.grasp_pose.orientation.z, _x.action_result.result.grasp.grasp_pose.orientation.w, _x.action_result.result.grasp.success_probability, _x.action_result.result.grasp.cluster_rep, _x.action_result.result.grasp.desired_approach_distance, _x.action_result.result.grasp.min_approach_distance,) = _struct_8dB2f.unpack(str[start:end])
      self.action_result.result.grasp.cluster_rep = bool(self.action_result.result.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.moved_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v262 = val2.pose
          _v263 = _v262.header
          start = end
          end += 4
          (_v263.seq,) = _struct_I.unpack(str[start:end])
          _v264 = _v263.stamp
          _x = _v264
          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
          _v263.frame_id = str[start:end]
          _v265 = _v262.pose
          _v266 = _v265.position
          _x = _v266
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v267 = _v265.orientation
          _x = _v267
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v268 = val1.cluster
        _v269 = _v268.header
        start = end
        end += 4
        (_v269.seq,) = _struct_I.unpack(str[start:end])
        _v270 = _v269.stamp
        _x = _v270
        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
        _v269.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v268.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v268.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v268.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = struct.unpack(pattern, str[start:end])
          _v268.channels.append(val3)
        _v271 = val1.region
        _v272 = _v271.cloud
        _v273 = _v272.header
        start = end
        end += 4
        (_v273.seq,) = _struct_I.unpack(str[start:end])
        _v274 = _v273.stamp
        _x = _v274
        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
        _v273.frame_id = str[start:end]
        _x = _v272
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v272.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v272.fields.append(val4)
        _x = _v272
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v272.is_bigendian = bool(_v272.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v272.data = str[start:end]
        start = end
        end += 1
        (_v272.is_dense,) = _struct_B.unpack(str[start:end])
        _v272.is_dense = bool(_v272.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v271.mask = struct.unpack(pattern, str[start:end])
        _v275 = _v271.image
        _v276 = _v275.header
        start = end
        end += 4
        (_v276.seq,) = _struct_I.unpack(str[start:end])
        _v277 = _v276.stamp
        _x = _v277
        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
        _v276.frame_id = str[start:end]
        _x = _v275
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v275.encoding = str[start:end]
        _x = _v275
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v275.data = str[start:end]
        _v278 = _v271.disparity_image
        _v279 = _v278.header
        start = end
        end += 4
        (_v279.seq,) = _struct_I.unpack(str[start:end])
        _v280 = _v279.stamp
        _x = _v280
        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
        _v279.frame_id = str[start:end]
        _x = _v278
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v278.encoding = str[start:end]
        _x = _v278
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v278.data = str[start:end]
        _v281 = _v271.cam_info
        _v282 = _v281.header
        start = end
        end += 4
        (_v282.seq,) = _struct_I.unpack(str[start:end])
        _v283 = _v282.stamp
        _x = _v283
        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
        _v282.frame_id = str[start:end]
        _x = _v281
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v281.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v281.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v281.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v281.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v281.P = _struct_12d.unpack(str[start:end])
        _x = _v281
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v284 = _v281.roi
        _x = _v284
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v284.do_rectify = bool(_v284.do_rectify)
        _v285 = _v271.roi_box_pose
        _v286 = _v285.header
        start = end
        end += 4
        (_v286.seq,) = _struct_I.unpack(str[start:end])
        _v287 = _v286.stamp
        _x = _v287
        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
        _v286.frame_id = str[start:end]
        _v288 = _v285.pose
        _v289 = _v288.position
        _x = _v289
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v290 = _v288.orientation
        _x = _v290
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v291 = _v271.roi_box_dims
        _x = _v291
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.collision_name = str[start:end]
        self.action_result.result.grasp.moved_obstacles.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v292 = val1.pre_grasp_posture
        _v293 = _v292.header
        start = end
        end += 4
        (_v293.seq,) = _struct_I.unpack(str[start:end])
        _v294 = _v293.stamp
        _x = _v294
        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
        _v293.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v292.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v292.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v292.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)
        _v292.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)
        _v292.effort = struct.unpack(pattern, str[start:end])
        _v295 = val1.grasp_posture
        _v296 = _v295.header
        start = end
        end += 4
        (_v296.seq,) = _struct_I.unpack(str[start:end])
        _v297 = _v296.stamp
        _x = _v297
        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
        _v296.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v295.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v295.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v295.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)
        _v295.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)
        _v295.effort = struct.unpack(pattern, str[start:end])
        _v298 = val1.grasp_pose
        _v299 = _v298.position
        _x = _v299
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v300 = _v298.orientation
        _x = _v300
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v301 = val3.pose
            _v302 = _v301.header
            start = end
            end += 4
            (_v302.seq,) = _struct_I.unpack(str[start:end])
            _v303 = _v302.stamp
            _x = _v303
            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
            _v302.frame_id = str[start:end]
            _v304 = _v301.pose
            _v305 = _v304.position
            _x = _v305
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v306 = _v304.orientation
            _x = _v306
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v307 = val2.cluster
          _v308 = _v307.header
          start = end
          end += 4
          (_v308.seq,) = _struct_I.unpack(str[start:end])
          _v309 = _v308.stamp
          _x = _v309
          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
          _v308.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v307.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v307.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v307.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = struct.unpack(pattern, str[start:end])
            _v307.channels.append(val4)
          _v310 = val2.region
          _v311 = _v310.cloud
          _v312 = _v311.header
          start = end
          end += 4
          (_v312.seq,) = _struct_I.unpack(str[start:end])
          _v313 = _v312.stamp
          _x = _v313
          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
          _v312.frame_id = str[start:end]
          _x = _v311
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v311.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v311.fields.append(val5)
          _x = _v311
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v311.is_bigendian = bool(_v311.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v311.data = str[start:end]
          start = end
          end += 1
          (_v311.is_dense,) = _struct_B.unpack(str[start:end])
          _v311.is_dense = bool(_v311.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v310.mask = struct.unpack(pattern, str[start:end])
          _v314 = _v310.image
          _v315 = _v314.header
          start = end
          end += 4
          (_v315.seq,) = _struct_I.unpack(str[start:end])
          _v316 = _v315.stamp
          _x = _v316
          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
          _v315.frame_id = str[start:end]
          _x = _v314
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v314.encoding = str[start:end]
          _x = _v314
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v314.data = str[start:end]
          _v317 = _v310.disparity_image
          _v318 = _v317.header
          start = end
          end += 4
          (_v318.seq,) = _struct_I.unpack(str[start:end])
          _v319 = _v318.stamp
          _x = _v319
          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
          _v318.frame_id = str[start:end]
          _x = _v317
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v317.encoding = str[start:end]
          _x = _v317
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v317.data = str[start:end]
          _v320 = _v310.cam_info
          _v321 = _v320.header
          start = end
          end += 4
          (_v321.seq,) = _struct_I.unpack(str[start:end])
          _v322 = _v321.stamp
          _x = _v322
          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
          _v321.frame_id = str[start:end]
          _x = _v320
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v320.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v320.D = struct.unpack(pattern, str[start:end])
          start = end
          end += 72
          _v320.K = _struct_9d.unpack(str[start:end])
          start = end
          end += 72
          _v320.R = _struct_9d.unpack(str[start:end])
          start = end
          end += 96
          _v320.P = _struct_12d.unpack(str[start:end])
          _x = _v320
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v323 = _v320.roi
          _x = _v323
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v323.do_rectify = bool(_v323.do_rectify)
          _v324 = _v310.roi_box_pose
          _v325 = _v324.header
          start = end
          end += 4
          (_v325.seq,) = _struct_I.unpack(str[start:end])
          _v326 = _v325.stamp
          _x = _v326
          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
          _v325.frame_id = str[start:end]
          _v327 = _v324.pose
          _v328 = _v327.position
          _x = _v328
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v329 = _v327.orientation
          _x = _v329
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v330 = _v310.roi_box_dims
          _x = _v330
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.action_result.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasp_results = []
      for i in range(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.action_result.result.attempted_grasp_results.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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_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]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps,) = _struct_2i.unpack(str[start:end])
      return self
    except struct.error as 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.action_goal.goal.target.reference_frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v331 = val1.pose
        _v332 = _v331.header
        buff.write(_struct_I.pack(_v332.seq))
        _v333 = _v332.stamp
        _x = _v333
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v332.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v334 = _v331.pose
        _v335 = _v334.position
        _x = _v335
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v336 = _v334.orientation
        _x = _v336
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_f.pack(val1.confidence))
        _x = val1.detector_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs))
      _x = self.action_goal.goal.target.cluster.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.values.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cloud.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.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width))
      length = len(self.action_goal.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
      _x = self
      buff.write(_struct_B2I.pack(_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step))
      _x = self.action_goal.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_goal.goal.target.region.cloud.is_dense))
      length = len(self.action_goal.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.action_goal.goal.target.region.mask.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.image.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.target.region.image.height, _x.action_goal.goal.target.region.image.width))
      _x = self.action_goal.goal.target.region.image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step))
      _x = self.action_goal.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.disparity_image.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.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width))
      _x = self.action_goal.goal.target.region.disparity_image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step))
      _x = self.action_goal.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cam_info.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.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width))
      _x = self.action_goal.goal.target.region.cam_info.distortion_model
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_goal.goal.target.region.cam_info.D.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.K.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.R.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.P.tostring())
      _x = self
      buff.write(_struct_6IB3I.pack(_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z))
      _x = self.action_goal.goal.target.collision_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_goal.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.desired_grasps:
        _v337 = val1.pre_grasp_posture
        _v338 = _v337.header
        buff.write(_struct_I.pack(_v338.seq))
        _v339 = _v338.stamp
        _x = _v339
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v338.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v337.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v337.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v337.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v337.position.tostring())
        length = len(_v337.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v337.velocity.tostring())
        length = len(_v337.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v337.effort.tostring())
        _v340 = val1.grasp_posture
        _v341 = _v340.header
        buff.write(_struct_I.pack(_v341.seq))
        _v342 = _v341.stamp
        _x = _v342
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v341.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v340.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v340.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v340.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v340.position.tostring())
        length = len(_v340.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v340.velocity.tostring())
        length = len(_v340.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v340.effort.tostring())
        _v343 = val1.grasp_pose
        _v344 = _v343.position
        _x = _v344
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v345 = _v343.orientation
        _x = _v345
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v346 = val3.pose
            _v347 = _v346.header
            buff.write(_struct_I.pack(_v347.seq))
            _v348 = _v347.stamp
            _x = _v348
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v347.frame_id
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v349 = _v346.pose
            _v350 = _v349.position
            _x = _v350
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v351 = _v349.orientation
            _x = _v351
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v352 = val2.cluster
          _v353 = _v352.header
          buff.write(_struct_I.pack(_v353.seq))
          _v354 = _v353.stamp
          _x = _v354
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v353.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v352.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v352.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v352.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v352.channels:
            _x = val4.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(val4.values.tostring())
          _v355 = val2.region
          _v356 = _v355.cloud
          _v357 = _v356.header
          buff.write(_struct_I.pack(_v357.seq))
          _v358 = _v357.stamp
          _x = _v358
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v357.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v356
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v356.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v356.fields:
            _x = val5.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v356
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v356.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v356.is_dense))
          length = len(_v355.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(_v355.mask.tostring())
          _v359 = _v355.image
          _v360 = _v359.header
          buff.write(_struct_I.pack(_v360.seq))
          _v361 = _v360.stamp
          _x = _v361
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v360.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v359
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v359.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v359
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v359.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v362 = _v355.disparity_image
          _v363 = _v362.header
          buff.write(_struct_I.pack(_v363.seq))
          _v364 = _v363.stamp
          _x = _v364
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v363.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v362
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v362.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v362
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v362.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v365 = _v355.cam_info
          _v366 = _v365.header
          buff.write(_struct_I.pack(_v366.seq))
          _v367 = _v366.stamp
          _x = _v367
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v366.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v365
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v365.distortion_model
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v365.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(_v365.D.tostring())
          buff.write(_v365.K.tostring())
          buff.write(_v365.R.tostring())
          buff.write(_v365.P.tostring())
          _x = _v365
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v368 = _v365.roi
          _x = _v368
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v369 = _v355.roi_box_pose
          _v370 = _v369.header
          buff.write(_struct_I.pack(_v370.seq))
          _v371 = _v370.stamp
          _x = _v371
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v370.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v372 = _v369.pose
          _v373 = _v372.position
          _x = _v373
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v374 = _v372.orientation
          _x = _v374
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v375 = _v355.roi_box_dims
          _x = _v375
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs))
      _x = self.action_goal.goal.lift.direction.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_5B.pack(_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v376 = val1.header
        buff.write(_struct_I.pack(_v376.seq))
        _v377 = _v376.stamp
        _x = _v377
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v376.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v378 = val1.target_point_offset
        _x = _v378
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v379 = val1.position
        _x = _v379
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v380 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v380.type))
        length = len(_v380.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v380.dimensions.tostring())
        length = len(_v380.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v380.triangles.tostring())
        length = len(_v380.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v380.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v381 = val1.constraint_region_orientation
        _x = _v381
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v382 = val1.header
        buff.write(_struct_I.pack(_v382.seq))
        _v383 = _v382.stamp
        _x = _v383
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v382.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v384 = val1.orientation
        _x = _v384
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _v385 = val1.header
        buff.write(_struct_I.pack(_v385.seq))
        _v386 = _v385.stamp
        _x = _v386
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v385.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v387 = val1.target
        _v388 = _v387.header
        buff.write(_struct_I.pack(_v388.seq))
        _v389 = _v388.stamp
        _x = _v389
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v388.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v390 = _v387.point
        _x = _v390
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v391 = val1.sensor_pose
        _v392 = _v391.header
        buff.write(_struct_I.pack(_v392.seq))
        _v393 = _v392.stamp
        _x = _v393
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v392.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v394 = _v391.pose
        _v395 = _v394.position
        _x = _v395
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v396 = _v394.orientation
        _x = _v396
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.action_goal.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.action_goal.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.action_goal.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v397 = val2.pose
          _v398 = _v397.header
          buff.write(_struct_I.pack(_v398.seq))
          _v399 = _v398.stamp
          _x = _v399
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v398.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v400 = _v397.pose
          _v401 = _v400.position
          _x = _v401
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v402 = _v400.orientation
          _x = _v402
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v403 = val1.cluster
        _v404 = _v403.header
        buff.write(_struct_I.pack(_v404.seq))
        _v405 = _v404.stamp
        _x = _v405
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v404.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v403.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v403.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v403.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v403.channels:
          _x = val3.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(val3.values.tostring())
        _v406 = val1.region
        _v407 = _v406.cloud
        _v408 = _v407.header
        buff.write(_struct_I.pack(_v408.seq))
        _v409 = _v408.stamp
        _x = _v409
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v408.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v407
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v407.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v407.fields:
          _x = val4.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v407
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v407.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(_v407.is_dense))
        length = len(_v406.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v406.mask.tostring())
        _v410 = _v406.image
        _v411 = _v410.header
        buff.write(_struct_I.pack(_v411.seq))
        _v412 = _v411.stamp
        _x = _v412
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v411.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v410
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v410.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v410
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v410.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v413 = _v406.disparity_image
        _v414 = _v413.header
        buff.write(_struct_I.pack(_v414.seq))
        _v415 = _v414.stamp
        _x = _v415
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v414.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v413
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v413.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v413
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v413.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v416 = _v406.cam_info
        _v417 = _v416.header
        buff.write(_struct_I.pack(_v417.seq))
        _v418 = _v417.stamp
        _x = _v418
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v417.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v416
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v416.distortion_model
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v416.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v416.D.tostring())
        buff.write(_v416.K.tostring())
        buff.write(_v416.R.tostring())
        buff.write(_v416.P.tostring())
        _x = _v416
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v419 = _v416.roi
        _x = _v419
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v420 = _v406.roi_box_pose
        _v421 = _v420.header
        buff.write(_struct_I.pack(_v421.seq))
        _v422 = _v421.stamp
        _x = _v422
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v421.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v423 = _v420.pose
        _v424 = _v423.position
        _x = _v424
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v425 = _v423.orientation
        _x = _v425
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v426 = _v406.roi_box_dims
        _x = _v426
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_f3I.pack(_x.action_goal.goal.max_contact_force, _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_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_result.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.position.tostring())
      length = len(self.action_result.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.action_result.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.action_result.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.position.tostring())
      length = len(self.action_result.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.velocity.tostring())
      length = len(self.action_result.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_8dB2f.pack(_x.action_result.result.grasp.grasp_pose.position.x, _x.action_result.result.grasp.grasp_pose.position.y, _x.action_result.result.grasp.grasp_pose.position.z, _x.action_result.result.grasp.grasp_pose.orientation.x, _x.action_result.result.grasp.grasp_pose.orientation.y, _x.action_result.result.grasp.grasp_pose.orientation.z, _x.action_result.result.grasp.grasp_pose.orientation.w, _x.action_result.result.grasp.success_probability, _x.action_result.result.grasp.cluster_rep, _x.action_result.result.grasp.desired_approach_distance, _x.action_result.result.grasp.min_approach_distance))
      length = len(self.action_result.result.grasp.moved_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.moved_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v427 = val2.pose
          _v428 = _v427.header
          buff.write(_struct_I.pack(_v428.seq))
          _v429 = _v428.stamp
          _x = _v429
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v428.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v430 = _v427.pose
          _v431 = _v430.position
          _x = _v431
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v432 = _v430.orientation
          _x = _v432
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v433 = val1.cluster
        _v434 = _v433.header
        buff.write(_struct_I.pack(_v434.seq))
        _v435 = _v434.stamp
        _x = _v435
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v434.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v433.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v433.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v433.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v433.channels:
          _x = val3.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(val3.values.tostring())
        _v436 = val1.region
        _v437 = _v436.cloud
        _v438 = _v437.header
        buff.write(_struct_I.pack(_v438.seq))
        _v439 = _v438.stamp
        _x = _v439
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v438.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v437
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v437.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v437.fields:
          _x = val4.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v437
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v437.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(_v437.is_dense))
        length = len(_v436.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v436.mask.tostring())
        _v440 = _v436.image
        _v441 = _v440.header
        buff.write(_struct_I.pack(_v441.seq))
        _v442 = _v441.stamp
        _x = _v442
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v441.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v440
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v440.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v440
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v440.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v443 = _v436.disparity_image
        _v444 = _v443.header
        buff.write(_struct_I.pack(_v444.seq))
        _v445 = _v444.stamp
        _x = _v445
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v444.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v443
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v443.encoding
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v443
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v443.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v446 = _v436.cam_info
        _v447 = _v446.header
        buff.write(_struct_I.pack(_v447.seq))
        _v448 = _v447.stamp
        _x = _v448
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v447.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v446
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v446.distortion_model
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v446.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v446.D.tostring())
        buff.write(_v446.K.tostring())
        buff.write(_v446.R.tostring())
        buff.write(_v446.P.tostring())
        _x = _v446
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v449 = _v446.roi
        _x = _v449
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v450 = _v436.roi_box_pose
        _v451 = _v450.header
        buff.write(_struct_I.pack(_v451.seq))
        _v452 = _v451.stamp
        _x = _v452
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v451.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v453 = _v450.pose
        _v454 = _v453.position
        _x = _v454
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v455 = _v453.orientation
        _x = _v455
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v456 = _v436.roi_box_dims
        _x = _v456
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasps:
        _v457 = val1.pre_grasp_posture
        _v458 = _v457.header
        buff.write(_struct_I.pack(_v458.seq))
        _v459 = _v458.stamp
        _x = _v459
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v458.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v457.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v457.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v457.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v457.position.tostring())
        length = len(_v457.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v457.velocity.tostring())
        length = len(_v457.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v457.effort.tostring())
        _v460 = val1.grasp_posture
        _v461 = _v460.header
        buff.write(_struct_I.pack(_v461.seq))
        _v462 = _v461.stamp
        _x = _v462
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v461.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v460.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v460.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v460.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v460.position.tostring())
        length = len(_v460.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v460.velocity.tostring())
        length = len(_v460.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v460.effort.tostring())
        _v463 = val1.grasp_pose
        _v464 = _v463.position
        _x = _v464
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v465 = _v463.orientation
        _x = _v465
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v466 = val3.pose
            _v467 = _v466.header
            buff.write(_struct_I.pack(_v467.seq))
            _v468 = _v467.stamp
            _x = _v468
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v467.frame_id
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v469 = _v466.pose
            _v470 = _v469.position
            _x = _v470
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v471 = _v469.orientation
            _x = _v471
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v472 = val2.cluster
          _v473 = _v472.header
          buff.write(_struct_I.pack(_v473.seq))
          _v474 = _v473.stamp
          _x = _v474
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v473.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v472.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v472.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v472.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v472.channels:
            _x = val4.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(val4.values.tostring())
          _v475 = val2.region
          _v476 = _v475.cloud
          _v477 = _v476.header
          buff.write(_struct_I.pack(_v477.seq))
          _v478 = _v477.stamp
          _x = _v478
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v477.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v476
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v476.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v476.fields:
            _x = val5.name
            length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v476
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v476.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v476.is_dense))
          length = len(_v475.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(_v475.mask.tostring())
          _v479 = _v475.image
          _v480 = _v479.header
          buff.write(_struct_I.pack(_v480.seq))
          _v481 = _v480.stamp
          _x = _v481
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v480.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v479
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v479.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v479
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v479.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v482 = _v475.disparity_image
          _v483 = _v482.header
          buff.write(_struct_I.pack(_v483.seq))
          _v484 = _v483.stamp
          _x = _v484
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v483.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v482
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v482.encoding
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v482
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v482.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v485 = _v475.cam_info
          _v486 = _v485.header
          buff.write(_struct_I.pack(_v486.seq))
          _v487 = _v486.stamp
          _x = _v487
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v486.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v485
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v485.distortion_model
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v485.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(_v485.D.tostring())
          buff.write(_v485.K.tostring())
          buff.write(_v485.R.tostring())
          buff.write(_v485.P.tostring())
          _x = _v485
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v488 = _v485.roi
          _x = _v488
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v489 = _v475.roi_box_pose
          _v490 = _v489.header
          buff.write(_struct_I.pack(_v490.seq))
          _v491 = _v490.stamp
          _x = _v491
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v490.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v492 = _v489.pose
          _v493 = _v492.position
          _x = _v493
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v494 = _v492.orientation
          _x = _v494
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v495 = _v475.roi_box_dims
          _x = _v495
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
      _x = self
      buff.write(_struct_3I.pack(_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))
      _x = self
      buff.write(_struct_2i.pack(_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @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.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
      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]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v496 = val1.pose
        _v497 = _v496.header
        start = end
        end += 4
        (_v497.seq,) = _struct_I.unpack(str[start:end])
        _v498 = _v497.stamp
        _x = _v498
        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
        _v497.frame_id = str[start:end]
        _v499 = _v496.pose
        _v500 = _v499.position
        _x = _v500
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v501 = _v499.orientation
        _x = _v501
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (val1.confidence,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.detector_name = str[start:end]
        self.action_goal.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.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.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.action_goal.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.action_goal.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.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.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.action_goal.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_bigendian = bool(self.action_goal.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_dense = bool(self.action_goal.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.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.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width,) = _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.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.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.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width,) = _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.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.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.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width,) = _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.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.cam_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 96
      self.action_goal.goal.target.region.cam_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
      _x = self
      start = end
      end += 37
      (_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.action_goal.goal.target.region.cam_info.roi.do_rectify = bool(self.action_goal.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.desired_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v502 = val1.pre_grasp_posture
        _v503 = _v502.header
        start = end
        end += 4
        (_v503.seq,) = _struct_I.unpack(str[start:end])
        _v504 = _v503.stamp
        _x = _v504
        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
        _v503.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v502.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v502.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v502.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)
        _v502.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)
        _v502.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v505 = val1.grasp_posture
        _v506 = _v505.header
        start = end
        end += 4
        (_v506.seq,) = _struct_I.unpack(str[start:end])
        _v507 = _v506.stamp
        _x = _v507
        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
        _v506.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v505.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v505.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v505.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)
        _v505.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)
        _v505.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v508 = val1.grasp_pose
        _v509 = _v508.position
        _x = _v509
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v510 = _v508.orientation
        _x = _v510
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v511 = val3.pose
            _v512 = _v511.header
            start = end
            end += 4
            (_v512.seq,) = _struct_I.unpack(str[start:end])
            _v513 = _v512.stamp
            _x = _v513
            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
            _v512.frame_id = str[start:end]
            _v514 = _v511.pose
            _v515 = _v514.position
            _x = _v515
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v516 = _v514.orientation
            _x = _v516
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v517 = val2.cluster
          _v518 = _v517.header
          start = end
          end += 4
          (_v518.seq,) = _struct_I.unpack(str[start:end])
          _v519 = _v518.stamp
          _x = _v519
          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
          _v518.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v517.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v517.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v517.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
            _v517.channels.append(val4)
          _v520 = val2.region
          _v521 = _v520.cloud
          _v522 = _v521.header
          start = end
          end += 4
          (_v522.seq,) = _struct_I.unpack(str[start:end])
          _v523 = _v522.stamp
          _x = _v523
          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
          _v522.frame_id = str[start:end]
          _x = _v521
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v521.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v521.fields.append(val5)
          _x = _v521
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v521.is_bigendian = bool(_v521.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v521.data = str[start:end]
          start = end
          end += 1
          (_v521.is_dense,) = _struct_B.unpack(str[start:end])
          _v521.is_dense = bool(_v521.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v520.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          _v524 = _v520.image
          _v525 = _v524.header
          start = end
          end += 4
          (_v525.seq,) = _struct_I.unpack(str[start:end])
          _v526 = _v525.stamp
          _x = _v526
          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
          _v525.frame_id = str[start:end]
          _x = _v524
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v524.encoding = str[start:end]
          _x = _v524
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v524.data = str[start:end]
          _v527 = _v520.disparity_image
          _v528 = _v527.header
          start = end
          end += 4
          (_v528.seq,) = _struct_I.unpack(str[start:end])
          _v529 = _v528.stamp
          _x = _v529
          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
          _v528.frame_id = str[start:end]
          _x = _v527
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v527.encoding = str[start:end]
          _x = _v527
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v527.data = str[start:end]
          _v530 = _v520.cam_info
          _v531 = _v530.header
          start = end
          end += 4
          (_v531.seq,) = _struct_I.unpack(str[start:end])
          _v532 = _v531.stamp
          _x = _v532
          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
          _v531.frame_id = str[start:end]
          _x = _v530
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v530.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v530.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 72
          _v530.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 72
          _v530.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 96
          _v530.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
          _x = _v530
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v533 = _v530.roi
          _x = _v533
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v533.do_rectify = bool(_v533.do_rectify)
          _v534 = _v520.roi_box_pose
          _v535 = _v534.header
          start = end
          end += 4
          (_v535.seq,) = _struct_I.unpack(str[start:end])
          _v536 = _v535.stamp
          _x = _v536
          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
          _v535.frame_id = str[start:end]
          _v537 = _v534.pose
          _v538 = _v537.position
          _x = _v538
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v539 = _v537.orientation
          _x = _v539
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v540 = _v520.roi_box_dims
          _x = _v540
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.action_goal.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.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.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance,) = _struct_3d2f.unpack(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]
      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]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      self.action_goal.goal.use_reactive_execution = bool(self.action_goal.goal.use_reactive_execution)
      self.action_goal.goal.use_reactive_lift = bool(self.action_goal.goal.use_reactive_lift)
      self.action_goal.goal.only_perform_feasibility_test = bool(self.action_goal.goal.only_perform_feasibility_test)
      self.action_goal.goal.ignore_collisions = bool(self.action_goal.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v541 = val1.header
        start = end
        end += 4
        (_v541.seq,) = _struct_I.unpack(str[start:end])
        _v542 = _v541.stamp
        _x = _v542
        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
        _v541.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v543 = val1.target_point_offset
        _x = _v543
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v544 = val1.position
        _x = _v544
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v545 = val1.constraint_region_shape
        start = end
        end += 1
        (_v545.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v545.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v545.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v545.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v545.vertices.append(val3)
        _v546 = val1.constraint_region_orientation
        _x = _v546
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v547 = val1.header
        start = end
        end += 4
        (_v547.seq,) = _struct_I.unpack(str[start:end])
        _v548 = _v547.stamp
        _x = _v548
        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
        _v547.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v549 = val1.orientation
        _x = _v549
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v550 = val1.header
        start = end
        end += 4
        (_v550.seq,) = _struct_I.unpack(str[start:end])
        _v551 = _v550.stamp
        _x = _v551
        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
        _v550.frame_id = str[start:end]
        _v552 = val1.target
        _v553 = _v552.header
        start = end
        end += 4
        (_v553.seq,) = _struct_I.unpack(str[start:end])
        _v554 = _v553.stamp
        _x = _v554
        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
        _v553.frame_id = str[start:end]
        _v555 = _v552.point
        _x = _v555
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v556 = val1.sensor_pose
        _v557 = _v556.header
        start = end
        end += 4
        (_v557.seq,) = _struct_I.unpack(str[start:end])
        _v558 = _v557.stamp
        _x = _v558
        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
        _v557.frame_id = str[start:end]
        _v559 = _v556.pose
        _v560 = _v559.position
        _x = _v560
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v561 = _v559.orientation
        _x = _v561
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.action_goal.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v562 = val2.pose
          _v563 = _v562.header
          start = end
          end += 4
          (_v563.seq,) = _struct_I.unpack(str[start:end])
          _v564 = _v563.stamp
          _x = _v564
          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
          _v563.frame_id = str[start:end]
          _v565 = _v562.pose
          _v566 = _v565.position
          _x = _v566
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v567 = _v565.orientation
          _x = _v567
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v568 = val1.cluster
        _v569 = _v568.header
        start = end
        end += 4
        (_v569.seq,) = _struct_I.unpack(str[start:end])
        _v570 = _v569.stamp
        _x = _v570
        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
        _v569.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v568.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v568.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v568.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
          _v568.channels.append(val3)
        _v571 = val1.region
        _v572 = _v571.cloud
        _v573 = _v572.header
        start = end
        end += 4
        (_v573.seq,) = _struct_I.unpack(str[start:end])
        _v574 = _v573.stamp
        _x = _v574
        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
        _v573.frame_id = str[start:end]
        _x = _v572
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v572.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v572.fields.append(val4)
        _x = _v572
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v572.is_bigendian = bool(_v572.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v572.data = str[start:end]
        start = end
        end += 1
        (_v572.is_dense,) = _struct_B.unpack(str[start:end])
        _v572.is_dense = bool(_v572.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v571.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v575 = _v571.image
        _v576 = _v575.header
        start = end
        end += 4
        (_v576.seq,) = _struct_I.unpack(str[start:end])
        _v577 = _v576.stamp
        _x = _v577
        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
        _v576.frame_id = str[start:end]
        _x = _v575
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v575.encoding = str[start:end]
        _x = _v575
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v575.data = str[start:end]
        _v578 = _v571.disparity_image
        _v579 = _v578.header
        start = end
        end += 4
        (_v579.seq,) = _struct_I.unpack(str[start:end])
        _v580 = _v579.stamp
        _x = _v580
        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
        _v579.frame_id = str[start:end]
        _x = _v578
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v578.encoding = str[start:end]
        _x = _v578
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v578.data = str[start:end]
        _v581 = _v571.cam_info
        _v582 = _v581.header
        start = end
        end += 4
        (_v582.seq,) = _struct_I.unpack(str[start:end])
        _v583 = _v582.stamp
        _x = _v583
        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
        _v582.frame_id = str[start:end]
        _x = _v581
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v581.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v581.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v581.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v581.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v581.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v581
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v584 = _v581.roi
        _x = _v584
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v584.do_rectify = bool(_v584.do_rectify)
        _v585 = _v571.roi_box_pose
        _v586 = _v585.header
        start = end
        end += 4
        (_v586.seq,) = _struct_I.unpack(str[start:end])
        _v587 = _v586.stamp
        _x = _v587
        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
        _v586.frame_id = str[start:end]
        _v588 = _v585.pose
        _v589 = _v588.position
        _x = _v589
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v590 = _v588.orientation
        _x = _v590
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v591 = _v571.roi_box_dims
        _x = _v591
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.collision_name = str[start:end]
        self.action_goal.goal.movable_obstacles.append(val1)
      _x = self
      start = end
      end += 16
      (_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_f3I.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_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.action_result.result.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.action_result.result.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.action_result.result.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.action_result.result.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.action_result.result.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.action_result.result.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.action_result.result.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.action_result.result.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 73
      (_x.action_result.result.grasp.grasp_pose.position.x, _x.action_result.result.grasp.grasp_pose.position.y, _x.action_result.result.grasp.grasp_pose.position.z, _x.action_result.result.grasp.grasp_pose.orientation.x, _x.action_result.result.grasp.grasp_pose.orientation.y, _x.action_result.result.grasp.grasp_pose.orientation.z, _x.action_result.result.grasp.grasp_pose.orientation.w, _x.action_result.result.grasp.success_probability, _x.action_result.result.grasp.cluster_rep, _x.action_result.result.grasp.desired_approach_distance, _x.action_result.result.grasp.min_approach_distance,) = _struct_8dB2f.unpack(str[start:end])
      self.action_result.result.grasp.cluster_rep = bool(self.action_result.result.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.moved_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v592 = val2.pose
          _v593 = _v592.header
          start = end
          end += 4
          (_v593.seq,) = _struct_I.unpack(str[start:end])
          _v594 = _v593.stamp
          _x = _v594
          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
          _v593.frame_id = str[start:end]
          _v595 = _v592.pose
          _v596 = _v595.position
          _x = _v596
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v597 = _v595.orientation
          _x = _v597
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v598 = val1.cluster
        _v599 = _v598.header
        start = end
        end += 4
        (_v599.seq,) = _struct_I.unpack(str[start:end])
        _v600 = _v599.stamp
        _x = _v600
        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
        _v599.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v598.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v598.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v598.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
          _v598.channels.append(val3)
        _v601 = val1.region
        _v602 = _v601.cloud
        _v603 = _v602.header
        start = end
        end += 4
        (_v603.seq,) = _struct_I.unpack(str[start:end])
        _v604 = _v603.stamp
        _x = _v604
        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
        _v603.frame_id = str[start:end]
        _x = _v602
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v602.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v602.fields.append(val4)
        _x = _v602
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v602.is_bigendian = bool(_v602.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v602.data = str[start:end]
        start = end
        end += 1
        (_v602.is_dense,) = _struct_B.unpack(str[start:end])
        _v602.is_dense = bool(_v602.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v601.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v605 = _v601.image
        _v606 = _v605.header
        start = end
        end += 4
        (_v606.seq,) = _struct_I.unpack(str[start:end])
        _v607 = _v606.stamp
        _x = _v607
        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
        _v606.frame_id = str[start:end]
        _x = _v605
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v605.encoding = str[start:end]
        _x = _v605
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v605.data = str[start:end]
        _v608 = _v601.disparity_image
        _v609 = _v608.header
        start = end
        end += 4
        (_v609.seq,) = _struct_I.unpack(str[start:end])
        _v610 = _v609.stamp
        _x = _v610
        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
        _v609.frame_id = str[start:end]
        _x = _v608
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v608.encoding = str[start:end]
        _x = _v608
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v608.data = str[start:end]
        _v611 = _v601.cam_info
        _v612 = _v611.header
        start = end
        end += 4
        (_v612.seq,) = _struct_I.unpack(str[start:end])
        _v613 = _v612.stamp
        _x = _v613
        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
        _v612.frame_id = str[start:end]
        _x = _v611
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v611.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v611.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v611.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v611.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v611.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v611
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v614 = _v611.roi
        _x = _v614
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v614.do_rectify = bool(_v614.do_rectify)
        _v615 = _v601.roi_box_pose
        _v616 = _v615.header
        start = end
        end += 4
        (_v616.seq,) = _struct_I.unpack(str[start:end])
        _v617 = _v616.stamp
        _x = _v617
        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
        _v616.frame_id = str[start:end]
        _v618 = _v615.pose
        _v619 = _v618.position
        _x = _v619
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v620 = _v618.orientation
        _x = _v620
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v621 = _v601.roi_box_dims
        _x = _v621
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.collision_name = str[start:end]
        self.action_result.result.grasp.moved_obstacles.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v622 = val1.pre_grasp_posture
        _v623 = _v622.header
        start = end
        end += 4
        (_v623.seq,) = _struct_I.unpack(str[start:end])
        _v624 = _v623.stamp
        _x = _v624
        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
        _v623.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v622.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v622.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v622.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)
        _v622.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)
        _v622.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v625 = val1.grasp_posture
        _v626 = _v625.header
        start = end
        end += 4
        (_v626.seq,) = _struct_I.unpack(str[start:end])
        _v627 = _v626.stamp
        _x = _v627
        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
        _v626.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v625.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v625.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v625.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)
        _v625.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)
        _v625.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v628 = val1.grasp_pose
        _v629 = _v628.position
        _x = _v629
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v630 = _v628.orientation
        _x = _v630
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v631 = val3.pose
            _v632 = _v631.header
            start = end
            end += 4
            (_v632.seq,) = _struct_I.unpack(str[start:end])
            _v633 = _v632.stamp
            _x = _v633
            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
            _v632.frame_id = str[start:end]
            _v634 = _v631.pose
            _v635 = _v634.position
            _x = _v635
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v636 = _v634.orientation
            _x = _v636
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v637 = val2.cluster
          _v638 = _v637.header
          start = end
          end += 4
          (_v638.seq,) = _struct_I.unpack(str[start:end])
          _v639 = _v638.stamp
          _x = _v639
          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
          _v638.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v637.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v637.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v637.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
            _v637.channels.append(val4)
          _v640 = val2.region
          _v641 = _v640.cloud
          _v642 = _v641.header
          start = end
          end += 4
          (_v642.seq,) = _struct_I.unpack(str[start:end])
          _v643 = _v642.stamp
          _x = _v643
          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
          _v642.frame_id = str[start:end]
          _x = _v641
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v641.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v641.fields.append(val5)
          _x = _v641
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v641.is_bigendian = bool(_v641.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v641.data = str[start:end]
          start = end
          end += 1
          (_v641.is_dense,) = _struct_B.unpack(str[start:end])
          _v641.is_dense = bool(_v641.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v640.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          _v644 = _v640.image
          _v645 = _v644.header
          start = end
          end += 4
          (_v645.seq,) = _struct_I.unpack(str[start:end])
          _v646 = _v645.stamp
          _x = _v646
          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
          _v645.frame_id = str[start:end]
          _x = _v644
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v644.encoding = str[start:end]
          _x = _v644
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v644.data = str[start:end]
          _v647 = _v640.disparity_image
          _v648 = _v647.header
          start = end
          end += 4
          (_v648.seq,) = _struct_I.unpack(str[start:end])
          _v649 = _v648.stamp
          _x = _v649
          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
          _v648.frame_id = str[start:end]
          _x = _v647
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v647.encoding = str[start:end]
          _x = _v647
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v647.data = str[start:end]
          _v650 = _v640.cam_info
          _v651 = _v650.header
          start = end
          end += 4
          (_v651.seq,) = _struct_I.unpack(str[start:end])
          _v652 = _v651.stamp
          _x = _v652
          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
          _v651.frame_id = str[start:end]
          _x = _v650
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v650.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v650.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 72
          _v650.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 72
          _v650.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 96
          _v650.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
          _x = _v650
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v653 = _v650.roi
          _x = _v653
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v653.do_rectify = bool(_v653.do_rectify)
          _v654 = _v640.roi_box_pose
          _v655 = _v654.header
          start = end
          end += 4
          (_v655.seq,) = _struct_I.unpack(str[start:end])
          _v656 = _v655.stamp
          _x = _v656
          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
          _v655.frame_id = str[start:end]
          _v657 = _v654.pose
          _v658 = _v657.position
          _x = _v658
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v659 = _v657.orientation
          _x = _v659
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v660 = _v640.roi_box_dims
          _x = _v660
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.action_result.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasp_results = []
      for i in range(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.action_result.result.attempted_grasp_results.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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_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]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps,) = _struct_2i.unpack(str[start:end])
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_12d = struct.Struct("<12d")
_struct_f3I = struct.Struct("<f3I")
_struct_dB2f = struct.Struct("<dB2f")
_struct_BI = struct.Struct("<BI")
_struct_10d = struct.Struct("<10d")
_struct_3I = struct.Struct("<3I")
_struct_B2I = struct.Struct("<B2I")
_struct_5B = struct.Struct("<5B")
_struct_8dB2f = struct.Struct("<8dB2f")
_struct_i3I = struct.Struct("<i3I")
_struct_iB = struct.Struct("<iB")
_struct_3f = struct.Struct("<3f")
_struct_3d = struct.Struct("<3d")
_struct_B = struct.Struct("<B")
_struct_di = struct.Struct("<di")
_struct_9d = struct.Struct("<9d")
_struct_2I = struct.Struct("<2I")
_struct_6IB3I = struct.Struct("<6IB3I")
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_i = struct.Struct("<i")
_struct_3d2f = struct.Struct("<3d2f")
_struct_4d = struct.Struct("<4d")
_struct_2i = struct.Struct("<2i")
_struct_4IB = struct.Struct("<4IB")

---

object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Fri Mar 1 18:03:30 2013