_PickupActionGoal.py

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"""autogenerated by genpy from object_manipulation_msgs/PickupActionGoal.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import arm_navigation_msgs.msg
import object_manipulation_msgs.msg
import actionlib_msgs.msg
import geometry_msgs.msg
import sensor_msgs.msg
import std_msgs.msg
import genpy
import household_objects_database_msgs.msg

class PickupActionGoal(genpy.Message):
  _md5sum = "c80a8991b5d6a3dabaeb053a18309c62"
  _type = "object_manipulation_msgs/PickupActionGoal"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# ====== 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

"""
  __slots__ = ['header','goal_id','goal']
  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','object_manipulation_msgs/PickupGoal']

  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:
       header,goal_id,goal

    :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(PickupActionGoal, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.PickupGoal()
    else:
      self.header = std_msgs.msg.Header()
      self.goal_id = actionlib_msgs.msg.GoalID()
      self.goal = object_manipulation_msgs.msg.PickupGoal()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.target.reference_frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs))
      _x = self.goal.target.cluster.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.goal.target.region.cloud.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width))
      length = len(self.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step))
      _x = self.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.goal.target.region.cloud.is_dense))
      length = len(self.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.goal.target.region.mask))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs))
      _x = self.goal.target.region.image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.image.height, _x.goal.target.region.image.width))
      _x = self.goal.target.region.image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step))
      _x = self.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.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width))
      _x = self.goal.target.region.disparity_image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step))
      _x = self.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.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width))
      _x = self.goal.target.region.cam_info.distortion_model
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.target.region.cam_info.D))
      buff.write(_struct_9d.pack(*self.goal.target.region.cam_info.K))
      buff.write(_struct_9d.pack(*self.goal.target.region.cam_info.R))
      buff.write(_struct_12d.pack(*self.goal.target.region.cam_info.P))
      _x = self
      buff.write(_struct_6IB3I.pack(_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z))
      _x = self.goal.target.collision_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.lift.direction.header.seq, _x.goal.lift.direction.header.stamp.secs, _x.goal.lift.direction.header.stamp.nsecs))
      _x = self.goal.lift.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.goal.lift.direction.vector.x, _x.goal.lift.direction.vector.y, _x.goal.lift.direction.vector.z, _x.goal.lift.desired_distance, _x.goal.lift.min_distance))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_5B.pack(_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_execution, _x.goal.use_reactive_lift, _x.goal.only_perform_feasibility_test, _x.goal.ignore_collisions))
      length = len(self.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.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.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.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.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.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.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_f.pack(self.goal.max_contact_force))
    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, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.PickupGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.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
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
        _v97 = val1.pose
        _v98 = _v97.header
        start = end
        end += 4
        (_v98.seq,) = _struct_I.unpack(str[start:end])
        _v99 = _v98.stamp
        _x = _v99
        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
        if python3:
          _v98.frame_id = str[start:end].decode('utf-8')
        else:
          _v98.frame_id = str[start:end]
        _v100 = _v97.pose
        _v101 = _v100.position
        _x = _v101
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v102 = _v100.orientation
        _x = _v102
        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
        if python3:
          val1.detector_name = str[start:end].decode('utf-8')
        else:
          val1.detector_name = str[start:end]
        self.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.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
      if python3:
        self.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          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.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.goal.target.region.cloud.is_bigendian = bool(self.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.goal.target.region.cloud.is_dense = bool(self.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.goal.target.region.mask = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.image.height, _x.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
      if python3:
        self.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.image.is_bigendian, _x.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
      if python3:
        self.goal.target.region.image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.disparity_image.height, _x.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
      if python3:
        self.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.disparity_image.is_bigendian, _x.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
      if python3:
        self.goal.target.region.disparity_image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cam_info.height, _x.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
      if python3:
        self.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.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.goal.target.region.cam_info.D = struct.unpack(pattern, str[start:end])
      start = end
      end += 72
      self.goal.target.region.cam_info.K = _struct_9d.unpack(str[start:end])
      start = end
      end += 72
      self.goal.target.region.cam_info.R = _struct_9d.unpack(str[start:end])
      start = end
      end += 96
      self.goal.target.region.cam_info.P = _struct_12d.unpack(str[start:end])
      _x = self
      start = end
      end += 37
      (_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.goal.target.region.cam_info.roi.do_rectify = bool(self.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.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
      if python3:
        self.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.desired_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v103 = val1.pre_grasp_posture
        _v104 = _v103.header
        start = end
        end += 4
        (_v104.seq,) = _struct_I.unpack(str[start:end])
        _v105 = _v104.stamp
        _x = _v105
        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
        if python3:
          _v104.frame_id = str[start:end].decode('utf-8')
        else:
          _v104.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v103.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v103.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v103.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)
        _v103.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)
        _v103.effort = struct.unpack(pattern, str[start:end])
        _v106 = val1.grasp_posture
        _v107 = _v106.header
        start = end
        end += 4
        (_v107.seq,) = _struct_I.unpack(str[start:end])
        _v108 = _v107.stamp
        _x = _v108
        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
        if python3:
          _v107.frame_id = str[start:end].decode('utf-8')
        else:
          _v107.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v106.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v106.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v106.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)
        _v106.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)
        _v106.effort = struct.unpack(pattern, str[start:end])
        _v109 = val1.grasp_pose
        _v110 = _v109.position
        _x = _v110
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v111 = _v109.orientation
        _x = _v111
        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
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            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])
            _v112 = val3.pose
            _v113 = _v112.header
            start = end
            end += 4
            (_v113.seq,) = _struct_I.unpack(str[start:end])
            _v114 = _v113.stamp
            _x = _v114
            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
            if python3:
              _v113.frame_id = str[start:end].decode('utf-8')
            else:
              _v113.frame_id = str[start:end]
            _v115 = _v112.pose
            _v116 = _v115.position
            _x = _v116
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v117 = _v115.orientation
            _x = _v117
            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
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v118 = val2.cluster
          _v119 = _v118.header
          start = end
          end += 4
          (_v119.seq,) = _struct_I.unpack(str[start:end])
          _v120 = _v119.stamp
          _x = _v120
          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
          if python3:
            _v119.frame_id = str[start:end].decode('utf-8')
          else:
            _v119.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v118.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])
            _v118.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v118.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
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              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])
            _v118.channels.append(val4)
          _v121 = val2.region
          _v122 = _v121.cloud
          _v123 = _v122.header
          start = end
          end += 4
          (_v123.seq,) = _struct_I.unpack(str[start:end])
          _v124 = _v123.stamp
          _x = _v124
          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
          if python3:
            _v123.frame_id = str[start:end].decode('utf-8')
          else:
            _v123.frame_id = str[start:end]
          _x = _v122
          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])
          _v122.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
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v122.fields.append(val5)
          _x = _v122
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v122.is_bigendian = bool(_v122.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v122.data = str[start:end].decode('utf-8')
          else:
            _v122.data = str[start:end]
          start = end
          end += 1
          (_v122.is_dense,) = _struct_B.unpack(str[start:end])
          _v122.is_dense = bool(_v122.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v121.mask = struct.unpack(pattern, str[start:end])
          _v125 = _v121.image
          _v126 = _v125.header
          start = end
          end += 4
          (_v126.seq,) = _struct_I.unpack(str[start:end])
          _v127 = _v126.stamp
          _x = _v127
          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
          if python3:
            _v126.frame_id = str[start:end].decode('utf-8')
          else:
            _v126.frame_id = str[start:end]
          _x = _v125
          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
          if python3:
            _v125.encoding = str[start:end].decode('utf-8')
          else:
            _v125.encoding = str[start:end]
          _x = _v125
          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
          if python3:
            _v125.data = str[start:end].decode('utf-8')
          else:
            _v125.data = str[start:end]
          _v128 = _v121.disparity_image
          _v129 = _v128.header
          start = end
          end += 4
          (_v129.seq,) = _struct_I.unpack(str[start:end])
          _v130 = _v129.stamp
          _x = _v130
          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
          if python3:
            _v129.frame_id = str[start:end].decode('utf-8')
          else:
            _v129.frame_id = str[start:end]
          _x = _v128
          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
          if python3:
            _v128.encoding = str[start:end].decode('utf-8')
          else:
            _v128.encoding = str[start:end]
          _x = _v128
          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
          if python3:
            _v128.data = str[start:end].decode('utf-8')
          else:
            _v128.data = str[start:end]
          _v131 = _v121.cam_info
          _v132 = _v131.header
          start = end
          end += 4
          (_v132.seq,) = _struct_I.unpack(str[start:end])
          _v133 = _v132.stamp
          _x = _v133
          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
          if python3:
            _v132.frame_id = str[start:end].decode('utf-8')
          else:
            _v132.frame_id = str[start:end]
          _x = _v131
          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
          if python3:
            _v131.distortion_model = str[start:end].decode('utf-8')
          else:
            _v131.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)
          _v131.D = struct.unpack(pattern, str[start:end])
          start = end
          end += 72
          _v131.K = _struct_9d.unpack(str[start:end])
          start = end
          end += 72
          _v131.R = _struct_9d.unpack(str[start:end])
          start = end
          end += 96
          _v131.P = _struct_12d.unpack(str[start:end])
          _x = _v131
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v134 = _v131.roi
          _x = _v134
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v134.do_rectify = bool(_v134.do_rectify)
          _v135 = _v121.roi_box_pose
          _v136 = _v135.header
          start = end
          end += 4
          (_v136.seq,) = _struct_I.unpack(str[start:end])
          _v137 = _v136.stamp
          _x = _v137
          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
          if python3:
            _v136.frame_id = str[start:end].decode('utf-8')
          else:
            _v136.frame_id = str[start:end]
          _v138 = _v135.pose
          _v139 = _v138.position
          _x = _v139
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v140 = _v138.orientation
          _x = _v140
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v141 = _v121.roi_box_dims
          _x = _v141
          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
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.lift.direction.header.seq, _x.goal.lift.direction.header.stamp.secs, _x.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
      if python3:
        self.goal.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.goal.lift.direction.vector.x, _x.goal.lift.direction.vector.y, _x.goal.lift.direction.vector.z, _x.goal.lift.desired_distance, _x.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
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_execution, _x.goal.use_reactive_lift, _x.goal.only_perform_feasibility_test, _x.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.goal.allow_gripper_support_collision = bool(self.goal.allow_gripper_support_collision)
      self.goal.use_reactive_execution = bool(self.goal.use_reactive_execution)
      self.goal.use_reactive_lift = bool(self.goal.use_reactive_lift)
      self.goal.only_perform_feasibility_test = bool(self.goal.only_perform_feasibility_test)
      self.goal.ignore_collisions = bool(self.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          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.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v142 = val1.header
        start = end
        end += 4
        (_v142.seq,) = _struct_I.unpack(str[start:end])
        _v143 = _v142.stamp
        _x = _v143
        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
        if python3:
          _v142.frame_id = str[start:end].decode('utf-8')
        else:
          _v142.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v144 = val1.target_point_offset
        _x = _v144
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v145 = val1.position
        _x = _v145
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v146 = val1.constraint_region_shape
        start = end
        end += 1
        (_v146.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)
        _v146.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)
        _v146.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v146.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])
          _v146.vertices.append(val3)
        _v147 = val1.constraint_region_orientation
        _x = _v147
        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.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v148 = val1.header
        start = end
        end += 4
        (_v148.seq,) = _struct_I.unpack(str[start:end])
        _v149 = _v148.stamp
        _x = _v149
        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
        if python3:
          _v148.frame_id = str[start:end].decode('utf-8')
        else:
          _v148.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v150 = val1.orientation
        _x = _v150
        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.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v151 = val1.header
        start = end
        end += 4
        (_v151.seq,) = _struct_I.unpack(str[start:end])
        _v152 = _v151.stamp
        _x = _v152
        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
        if python3:
          _v151.frame_id = str[start:end].decode('utf-8')
        else:
          _v151.frame_id = str[start:end]
        _v153 = val1.target
        _v154 = _v153.header
        start = end
        end += 4
        (_v154.seq,) = _struct_I.unpack(str[start:end])
        _v155 = _v154.stamp
        _x = _v155
        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
        if python3:
          _v154.frame_id = str[start:end].decode('utf-8')
        else:
          _v154.frame_id = str[start:end]
        _v156 = _v153.point
        _x = _v156
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v157 = val1.sensor_pose
        _v158 = _v157.header
        start = end
        end += 4
        (_v158.seq,) = _struct_I.unpack(str[start:end])
        _v159 = _v158.stamp
        _x = _v159
        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
        if python3:
          _v158.frame_id = str[start:end].decode('utf-8')
        else:
          _v158.frame_id = str[start:end]
        _v160 = _v157.pose
        _v161 = _v160.position
        _x = _v161
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v162 = _v160.orientation
        _x = _v162
        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.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          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])
          _v163 = val2.pose
          _v164 = _v163.header
          start = end
          end += 4
          (_v164.seq,) = _struct_I.unpack(str[start:end])
          _v165 = _v164.stamp
          _x = _v165
          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
          if python3:
            _v164.frame_id = str[start:end].decode('utf-8')
          else:
            _v164.frame_id = str[start:end]
          _v166 = _v163.pose
          _v167 = _v166.position
          _x = _v167
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v168 = _v166.orientation
          _x = _v168
          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
          if python3:
            val2.detector_name = str[start:end].decode('utf-8')
          else:
            val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v169 = val1.cluster
        _v170 = _v169.header
        start = end
        end += 4
        (_v170.seq,) = _struct_I.unpack(str[start:end])
        _v171 = _v170.stamp
        _x = _v171
        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
        if python3:
          _v170.frame_id = str[start:end].decode('utf-8')
        else:
          _v170.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v169.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])
          _v169.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v169.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
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            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])
          _v169.channels.append(val3)
        _v172 = val1.region
        _v173 = _v172.cloud
        _v174 = _v173.header
        start = end
        end += 4
        (_v174.seq,) = _struct_I.unpack(str[start:end])
        _v175 = _v174.stamp
        _x = _v175
        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
        if python3:
          _v174.frame_id = str[start:end].decode('utf-8')
        else:
          _v174.frame_id = str[start:end]
        _x = _v173
        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])
        _v173.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
          if python3:
            val4.name = str[start:end].decode('utf-8')
          else:
            val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v173.fields.append(val4)
        _x = _v173
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v173.is_bigendian = bool(_v173.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v173.data = str[start:end].decode('utf-8')
        else:
          _v173.data = str[start:end]
        start = end
        end += 1
        (_v173.is_dense,) = _struct_B.unpack(str[start:end])
        _v173.is_dense = bool(_v173.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v172.mask = struct.unpack(pattern, str[start:end])
        _v176 = _v172.image
        _v177 = _v176.header
        start = end
        end += 4
        (_v177.seq,) = _struct_I.unpack(str[start:end])
        _v178 = _v177.stamp
        _x = _v178
        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
        if python3:
          _v177.frame_id = str[start:end].decode('utf-8')
        else:
          _v177.frame_id = str[start:end]
        _x = _v176
        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
        if python3:
          _v176.encoding = str[start:end].decode('utf-8')
        else:
          _v176.encoding = str[start:end]
        _x = _v176
        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
        if python3:
          _v176.data = str[start:end].decode('utf-8')
        else:
          _v176.data = str[start:end]
        _v179 = _v172.disparity_image
        _v180 = _v179.header
        start = end
        end += 4
        (_v180.seq,) = _struct_I.unpack(str[start:end])
        _v181 = _v180.stamp
        _x = _v181
        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
        if python3:
          _v180.frame_id = str[start:end].decode('utf-8')
        else:
          _v180.frame_id = str[start:end]
        _x = _v179
        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
        if python3:
          _v179.encoding = str[start:end].decode('utf-8')
        else:
          _v179.encoding = str[start:end]
        _x = _v179
        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
        if python3:
          _v179.data = str[start:end].decode('utf-8')
        else:
          _v179.data = str[start:end]
        _v182 = _v172.cam_info
        _v183 = _v182.header
        start = end
        end += 4
        (_v183.seq,) = _struct_I.unpack(str[start:end])
        _v184 = _v183.stamp
        _x = _v184
        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
        if python3:
          _v183.frame_id = str[start:end].decode('utf-8')
        else:
          _v183.frame_id = str[start:end]
        _x = _v182
        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
        if python3:
          _v182.distortion_model = str[start:end].decode('utf-8')
        else:
          _v182.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)
        _v182.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v182.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v182.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v182.P = _struct_12d.unpack(str[start:end])
        _x = _v182
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v185 = _v182.roi
        _x = _v185
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v185.do_rectify = bool(_v185.do_rectify)
        _v186 = _v172.roi_box_pose
        _v187 = _v186.header
        start = end
        end += 4
        (_v187.seq,) = _struct_I.unpack(str[start:end])
        _v188 = _v187.stamp
        _x = _v188
        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
        if python3:
          _v187.frame_id = str[start:end].decode('utf-8')
        else:
          _v187.frame_id = str[start:end]
        _v189 = _v186.pose
        _v190 = _v189.position
        _x = _v190
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v191 = _v189.orientation
        _x = _v191
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v192 = _v172.roi_box_dims
        _x = _v192
        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
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.movable_obstacles.append(val1)
      start = end
      end += 4
      (self.goal.max_contact_force,) = _struct_f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.target.reference_frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v193 = val1.pose
        _v194 = _v193.header
        buff.write(_struct_I.pack(_v194.seq))
        _v195 = _v194.stamp
        _x = _v195
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v194.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v196 = _v193.pose
        _v197 = _v196.position
        _x = _v197
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v198 = _v196.orientation
        _x = _v198
        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)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs))
      _x = self.goal.target.cluster.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.goal.target.region.cloud.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width))
      length = len(self.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step))
      _x = self.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.goal.target.region.cloud.is_dense))
      length = len(self.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.goal.target.region.mask.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs))
      _x = self.goal.target.region.image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.image.height, _x.goal.target.region.image.width))
      _x = self.goal.target.region.image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step))
      _x = self.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.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width))
      _x = self.goal.target.region.disparity_image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step))
      _x = self.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.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width))
      _x = self.goal.target.region.cam_info.distortion_model
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.target.region.cam_info.D.tostring())
      buff.write(self.goal.target.region.cam_info.K.tostring())
      buff.write(self.goal.target.region.cam_info.R.tostring())
      buff.write(self.goal.target.region.cam_info.P.tostring())
      _x = self
      buff.write(_struct_6IB3I.pack(_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z))
      _x = self.goal.target.collision_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.desired_grasps:
        _v199 = val1.pre_grasp_posture
        _v200 = _v199.header
        buff.write(_struct_I.pack(_v200.seq))
        _v201 = _v200.stamp
        _x = _v201
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v200.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v199.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v199.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v199.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v199.position.tostring())
        length = len(_v199.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v199.velocity.tostring())
        length = len(_v199.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v199.effort.tostring())
        _v202 = val1.grasp_posture
        _v203 = _v202.header
        buff.write(_struct_I.pack(_v203.seq))
        _v204 = _v203.stamp
        _x = _v204
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v203.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v202.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v202.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v202.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v202.position.tostring())
        length = len(_v202.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v202.velocity.tostring())
        length = len(_v202.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v202.effort.tostring())
        _v205 = val1.grasp_pose
        _v206 = _v205.position
        _x = _v206
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v207 = _v205.orientation
        _x = _v207
        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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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))
            _v208 = val3.pose
            _v209 = _v208.header
            buff.write(_struct_I.pack(_v209.seq))
            _v210 = _v209.stamp
            _x = _v210
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v209.frame_id
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v211 = _v208.pose
            _v212 = _v211.position
            _x = _v212
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v213 = _v211.orientation
            _x = _v213
            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)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v214 = val2.cluster
          _v215 = _v214.header
          buff.write(_struct_I.pack(_v215.seq))
          _v216 = _v215.stamp
          _x = _v216
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v215.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v214.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v214.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v214.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v214.channels:
            _x = val4.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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())
          _v217 = val2.region
          _v218 = _v217.cloud
          _v219 = _v218.header
          buff.write(_struct_I.pack(_v219.seq))
          _v220 = _v219.stamp
          _x = _v220
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v219.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v218
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v218.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v218.fields:
            _x = val5.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              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 = _v218
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v218.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(_v218.is_dense))
          length = len(_v217.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(_v217.mask.tostring())
          _v221 = _v217.image
          _v222 = _v221.header
          buff.write(_struct_I.pack(_v222.seq))
          _v223 = _v222.stamp
          _x = _v223
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v222.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v221
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v221.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v221
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v221.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))
          _v224 = _v217.disparity_image
          _v225 = _v224.header
          buff.write(_struct_I.pack(_v225.seq))
          _v226 = _v225.stamp
          _x = _v226
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v225.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v224
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v224.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v224
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v224.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))
          _v227 = _v217.cam_info
          _v228 = _v227.header
          buff.write(_struct_I.pack(_v228.seq))
          _v229 = _v228.stamp
          _x = _v229
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v228.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v227
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v227.distortion_model
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v227.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(_v227.D.tostring())
          buff.write(_v227.K.tostring())
          buff.write(_v227.R.tostring())
          buff.write(_v227.P.tostring())
          _x = _v227
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v230 = _v227.roi
          _x = _v230
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v231 = _v217.roi_box_pose
          _v232 = _v231.header
          buff.write(_struct_I.pack(_v232.seq))
          _v233 = _v232.stamp
          _x = _v233
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v232.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v234 = _v231.pose
          _v235 = _v234.position
          _x = _v235
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v236 = _v234.orientation
          _x = _v236
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v237 = _v217.roi_box_dims
          _x = _v237
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.lift.direction.header.seq, _x.goal.lift.direction.header.stamp.secs, _x.goal.lift.direction.header.stamp.nsecs))
      _x = self.goal.lift.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.goal.lift.direction.vector.x, _x.goal.lift.direction.vector.y, _x.goal.lift.direction.vector.z, _x.goal.lift.desired_distance, _x.goal.lift.min_distance))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_5B.pack(_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_execution, _x.goal.use_reactive_lift, _x.goal.only_perform_feasibility_test, _x.goal.ignore_collisions))
      length = len(self.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.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.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.position_constraints:
        _v238 = val1.header
        buff.write(_struct_I.pack(_v238.seq))
        _v239 = _v238.stamp
        _x = _v239
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v238.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v240 = val1.target_point_offset
        _x = _v240
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v241 = val1.position
        _x = _v241
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v242 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v242.type))
        length = len(_v242.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v242.dimensions.tostring())
        length = len(_v242.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v242.triangles.tostring())
        length = len(_v242.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v242.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v243 = val1.constraint_region_orientation
        _x = _v243
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.orientation_constraints:
        _v244 = val1.header
        buff.write(_struct_I.pack(_v244.seq))
        _v245 = _v244.stamp
        _x = _v245
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v244.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v246 = val1.orientation
        _x = _v246
        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.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.visibility_constraints:
        _v247 = val1.header
        buff.write(_struct_I.pack(_v247.seq))
        _v248 = _v247.stamp
        _x = _v248
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v247.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v249 = val1.target
        _v250 = _v249.header
        buff.write(_struct_I.pack(_v250.seq))
        _v251 = _v250.stamp
        _x = _v251
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v250.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v252 = _v249.point
        _x = _v252
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v253 = val1.sensor_pose
        _v254 = _v253.header
        buff.write(_struct_I.pack(_v254.seq))
        _v255 = _v254.stamp
        _x = _v255
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v254.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v256 = _v253.pose
        _v257 = _v256.position
        _x = _v257
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v258 = _v256.orientation
        _x = _v258
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          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))
          _v259 = val2.pose
          _v260 = _v259.header
          buff.write(_struct_I.pack(_v260.seq))
          _v261 = _v260.stamp
          _x = _v261
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v260.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v262 = _v259.pose
          _v263 = _v262.position
          _x = _v263
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v264 = _v262.orientation
          _x = _v264
          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)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v265 = val1.cluster
        _v266 = _v265.header
        buff.write(_struct_I.pack(_v266.seq))
        _v267 = _v266.stamp
        _x = _v267
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v266.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v265.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v265.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v265.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v265.channels:
          _x = val3.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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())
        _v268 = val1.region
        _v269 = _v268.cloud
        _v270 = _v269.header
        buff.write(_struct_I.pack(_v270.seq))
        _v271 = _v270.stamp
        _x = _v271
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v270.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v269
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v269.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v269.fields:
          _x = val4.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            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 = _v269
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v269.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(_v269.is_dense))
        length = len(_v268.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v268.mask.tostring())
        _v272 = _v268.image
        _v273 = _v272.header
        buff.write(_struct_I.pack(_v273.seq))
        _v274 = _v273.stamp
        _x = _v274
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v273.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v272
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v272.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v272
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v272.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))
        _v275 = _v268.disparity_image
        _v276 = _v275.header
        buff.write(_struct_I.pack(_v276.seq))
        _v277 = _v276.stamp
        _x = _v277
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v276.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v275
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v275.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v275
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v275.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))
        _v278 = _v268.cam_info
        _v279 = _v278.header
        buff.write(_struct_I.pack(_v279.seq))
        _v280 = _v279.stamp
        _x = _v280
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v279.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v278
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v278.distortion_model
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v278.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v278.D.tostring())
        buff.write(_v278.K.tostring())
        buff.write(_v278.R.tostring())
        buff.write(_v278.P.tostring())
        _x = _v278
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v281 = _v278.roi
        _x = _v281
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v282 = _v268.roi_box_pose
        _v283 = _v282.header
        buff.write(_struct_I.pack(_v283.seq))
        _v284 = _v283.stamp
        _x = _v284
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v283.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v285 = _v282.pose
        _v286 = _v285.position
        _x = _v286
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v287 = _v285.orientation
        _x = _v287
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v288 = _v268.roi_box_dims
        _x = _v288
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_f.pack(self.goal.max_contact_force))
    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, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.PickupGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.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
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
        _v289 = val1.pose
        _v290 = _v289.header
        start = end
        end += 4
        (_v290.seq,) = _struct_I.unpack(str[start:end])
        _v291 = _v290.stamp
        _x = _v291
        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
        if python3:
          _v290.frame_id = str[start:end].decode('utf-8')
        else:
          _v290.frame_id = str[start:end]
        _v292 = _v289.pose
        _v293 = _v292.position
        _x = _v293
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v294 = _v292.orientation
        _x = _v294
        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
        if python3:
          val1.detector_name = str[start:end].decode('utf-8')
        else:
          val1.detector_name = str[start:end]
        self.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.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
      if python3:
        self.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          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.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.goal.target.region.cloud.is_bigendian = bool(self.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.goal.target.region.cloud.is_dense = bool(self.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.goal.target.region.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.image.height, _x.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
      if python3:
        self.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.image.is_bigendian, _x.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
      if python3:
        self.goal.target.region.image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.disparity_image.height, _x.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
      if python3:
        self.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.disparity_image.is_bigendian, _x.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
      if python3:
        self.goal.target.region.disparity_image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.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
      if python3:
        self.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cam_info.height, _x.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
      if python3:
        self.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.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.goal.target.region.cam_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 72
      self.goal.target.region.cam_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 72
      self.goal.target.region.cam_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 96
      self.goal.target.region.cam_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
      _x = self
      start = end
      end += 37
      (_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.goal.target.region.cam_info.roi.do_rectify = bool(self.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.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
      if python3:
        self.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.desired_grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v295 = val1.pre_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
        if python3:
          _v296.frame_id = str[start:end].decode('utf-8')
        else:
          _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
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            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 = 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)
        _v295.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)
        _v295.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v298 = val1.grasp_posture
        _v299 = _v298.header
        start = end
        end += 4
        (_v299.seq,) = _struct_I.unpack(str[start:end])
        _v300 = _v299.stamp
        _x = _v300
        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
        if python3:
          _v299.frame_id = str[start:end].decode('utf-8')
        else:
          _v299.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v298.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v298.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v298.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)
        _v298.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)
        _v298.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v301 = val1.grasp_pose
        _v302 = _v301.position
        _x = _v302
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v303 = _v301.orientation
        _x = _v303
        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
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            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])
            _v304 = val3.pose
            _v305 = _v304.header
            start = end
            end += 4
            (_v305.seq,) = _struct_I.unpack(str[start:end])
            _v306 = _v305.stamp
            _x = _v306
            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
            if python3:
              _v305.frame_id = str[start:end].decode('utf-8')
            else:
              _v305.frame_id = str[start:end]
            _v307 = _v304.pose
            _v308 = _v307.position
            _x = _v308
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v309 = _v307.orientation
            _x = _v309
            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
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v310 = val2.cluster
          _v311 = _v310.header
          start = end
          end += 4
          (_v311.seq,) = _struct_I.unpack(str[start:end])
          _v312 = _v311.stamp
          _x = _v312
          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
          if python3:
            _v311.frame_id = str[start:end].decode('utf-8')
          else:
            _v311.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v310.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])
            _v310.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v310.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
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              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)
            _v310.channels.append(val4)
          _v313 = val2.region
          _v314 = _v313.cloud
          _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
          if python3:
            _v315.frame_id = str[start:end].decode('utf-8')
          else:
            _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])
          _v314.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
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v314.fields.append(val5)
          _x = _v314
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v314.is_bigendian = bool(_v314.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v314.data = str[start:end].decode('utf-8')
          else:
            _v314.data = str[start:end]
          start = end
          end += 1
          (_v314.is_dense,) = _struct_B.unpack(str[start:end])
          _v314.is_dense = bool(_v314.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v313.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          _v317 = _v313.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
          if python3:
            _v318.frame_id = str[start:end].decode('utf-8')
          else:
            _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
          if python3:
            _v317.encoding = str[start:end].decode('utf-8')
          else:
            _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
          if python3:
            _v317.data = str[start:end].decode('utf-8')
          else:
            _v317.data = str[start:end]
          _v320 = _v313.disparity_image
          _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
          if python3:
            _v321.frame_id = str[start:end].decode('utf-8')
          else:
            _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
          if python3:
            _v320.encoding = str[start:end].decode('utf-8')
          else:
            _v320.encoding = str[start:end]
          _x = _v320
          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
          if python3:
            _v320.data = str[start:end].decode('utf-8')
          else:
            _v320.data = str[start:end]
          _v323 = _v313.cam_info
          _v324 = _v323.header
          start = end
          end += 4
          (_v324.seq,) = _struct_I.unpack(str[start:end])
          _v325 = _v324.stamp
          _x = _v325
          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
          if python3:
            _v324.frame_id = str[start:end].decode('utf-8')
          else:
            _v324.frame_id = str[start:end]
          _x = _v323
          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
          if python3:
            _v323.distortion_model = str[start:end].decode('utf-8')
          else:
            _v323.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)
          _v323.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 72
          _v323.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 72
          _v323.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 96
          _v323.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
          _x = _v323
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v326 = _v323.roi
          _x = _v326
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v326.do_rectify = bool(_v326.do_rectify)
          _v327 = _v313.roi_box_pose
          _v328 = _v327.header
          start = end
          end += 4
          (_v328.seq,) = _struct_I.unpack(str[start:end])
          _v329 = _v328.stamp
          _x = _v329
          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
          if python3:
            _v328.frame_id = str[start:end].decode('utf-8')
          else:
            _v328.frame_id = str[start:end]
          _v330 = _v327.pose
          _v331 = _v330.position
          _x = _v331
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v332 = _v330.orientation
          _x = _v332
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v333 = _v313.roi_box_dims
          _x = _v333
          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
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.lift.direction.header.seq, _x.goal.lift.direction.header.stamp.secs, _x.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
      if python3:
        self.goal.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.goal.lift.direction.vector.x, _x.goal.lift.direction.vector.y, _x.goal.lift.direction.vector.z, _x.goal.lift.desired_distance, _x.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
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_execution, _x.goal.use_reactive_lift, _x.goal.only_perform_feasibility_test, _x.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.goal.allow_gripper_support_collision = bool(self.goal.allow_gripper_support_collision)
      self.goal.use_reactive_execution = bool(self.goal.use_reactive_execution)
      self.goal.use_reactive_lift = bool(self.goal.use_reactive_lift)
      self.goal.only_perform_feasibility_test = bool(self.goal.only_perform_feasibility_test)
      self.goal.ignore_collisions = bool(self.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          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.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v334 = val1.header
        start = end
        end += 4
        (_v334.seq,) = _struct_I.unpack(str[start:end])
        _v335 = _v334.stamp
        _x = _v335
        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
        if python3:
          _v334.frame_id = str[start:end].decode('utf-8')
        else:
          _v334.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v336 = val1.target_point_offset
        _x = _v336
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v337 = val1.position
        _x = _v337
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v338 = val1.constraint_region_shape
        start = end
        end += 1
        (_v338.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)
        _v338.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)
        _v338.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v338.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])
          _v338.vertices.append(val3)
        _v339 = val1.constraint_region_orientation
        _x = _v339
        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.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v340 = val1.header
        start = end
        end += 4
        (_v340.seq,) = _struct_I.unpack(str[start:end])
        _v341 = _v340.stamp
        _x = _v341
        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
        if python3:
          _v340.frame_id = str[start:end].decode('utf-8')
        else:
          _v340.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v342 = val1.orientation
        _x = _v342
        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.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v343 = val1.header
        start = end
        end += 4
        (_v343.seq,) = _struct_I.unpack(str[start:end])
        _v344 = _v343.stamp
        _x = _v344
        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
        if python3:
          _v343.frame_id = str[start:end].decode('utf-8')
        else:
          _v343.frame_id = str[start:end]
        _v345 = val1.target
        _v346 = _v345.header
        start = end
        end += 4
        (_v346.seq,) = _struct_I.unpack(str[start:end])
        _v347 = _v346.stamp
        _x = _v347
        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
        if python3:
          _v346.frame_id = str[start:end].decode('utf-8')
        else:
          _v346.frame_id = str[start:end]
        _v348 = _v345.point
        _x = _v348
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v349 = val1.sensor_pose
        _v350 = _v349.header
        start = end
        end += 4
        (_v350.seq,) = _struct_I.unpack(str[start:end])
        _v351 = _v350.stamp
        _x = _v351
        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
        if python3:
          _v350.frame_id = str[start:end].decode('utf-8')
        else:
          _v350.frame_id = str[start:end]
        _v352 = _v349.pose
        _v353 = _v352.position
        _x = _v353
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v354 = _v352.orientation
        _x = _v354
        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.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          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])
          _v355 = val2.pose
          _v356 = _v355.header
          start = end
          end += 4
          (_v356.seq,) = _struct_I.unpack(str[start:end])
          _v357 = _v356.stamp
          _x = _v357
          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
          if python3:
            _v356.frame_id = str[start:end].decode('utf-8')
          else:
            _v356.frame_id = str[start:end]
          _v358 = _v355.pose
          _v359 = _v358.position
          _x = _v359
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v360 = _v358.orientation
          _x = _v360
          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
          if python3:
            val2.detector_name = str[start:end].decode('utf-8')
          else:
            val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v361 = val1.cluster
        _v362 = _v361.header
        start = end
        end += 4
        (_v362.seq,) = _struct_I.unpack(str[start:end])
        _v363 = _v362.stamp
        _x = _v363
        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
        if python3:
          _v362.frame_id = str[start:end].decode('utf-8')
        else:
          _v362.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v361.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])
          _v361.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v361.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
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            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)
          _v361.channels.append(val3)
        _v364 = val1.region
        _v365 = _v364.cloud
        _v366 = _v365.header
        start = end
        end += 4
        (_v366.seq,) = _struct_I.unpack(str[start:end])
        _v367 = _v366.stamp
        _x = _v367
        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
        if python3:
          _v366.frame_id = str[start:end].decode('utf-8')
        else:
          _v366.frame_id = str[start:end]
        _x = _v365
        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])
        _v365.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
          if python3:
            val4.name = str[start:end].decode('utf-8')
          else:
            val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v365.fields.append(val4)
        _x = _v365
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v365.is_bigendian = bool(_v365.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v365.data = str[start:end].decode('utf-8')
        else:
          _v365.data = str[start:end]
        start = end
        end += 1
        (_v365.is_dense,) = _struct_B.unpack(str[start:end])
        _v365.is_dense = bool(_v365.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v364.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v368 = _v364.image
        _v369 = _v368.header
        start = end
        end += 4
        (_v369.seq,) = _struct_I.unpack(str[start:end])
        _v370 = _v369.stamp
        _x = _v370
        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
        if python3:
          _v369.frame_id = str[start:end].decode('utf-8')
        else:
          _v369.frame_id = str[start:end]
        _x = _v368
        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
        if python3:
          _v368.encoding = str[start:end].decode('utf-8')
        else:
          _v368.encoding = str[start:end]
        _x = _v368
        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
        if python3:
          _v368.data = str[start:end].decode('utf-8')
        else:
          _v368.data = str[start:end]
        _v371 = _v364.disparity_image
        _v372 = _v371.header
        start = end
        end += 4
        (_v372.seq,) = _struct_I.unpack(str[start:end])
        _v373 = _v372.stamp
        _x = _v373
        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
        if python3:
          _v372.frame_id = str[start:end].decode('utf-8')
        else:
          _v372.frame_id = str[start:end]
        _x = _v371
        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
        if python3:
          _v371.encoding = str[start:end].decode('utf-8')
        else:
          _v371.encoding = str[start:end]
        _x = _v371
        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
        if python3:
          _v371.data = str[start:end].decode('utf-8')
        else:
          _v371.data = str[start:end]
        _v374 = _v364.cam_info
        _v375 = _v374.header
        start = end
        end += 4
        (_v375.seq,) = _struct_I.unpack(str[start:end])
        _v376 = _v375.stamp
        _x = _v376
        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
        if python3:
          _v375.frame_id = str[start:end].decode('utf-8')
        else:
          _v375.frame_id = str[start:end]
        _x = _v374
        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
        if python3:
          _v374.distortion_model = str[start:end].decode('utf-8')
        else:
          _v374.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)
        _v374.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v374.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v374.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v374.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v374
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v377 = _v374.roi
        _x = _v377
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v377.do_rectify = bool(_v377.do_rectify)
        _v378 = _v364.roi_box_pose
        _v379 = _v378.header
        start = end
        end += 4
        (_v379.seq,) = _struct_I.unpack(str[start:end])
        _v380 = _v379.stamp
        _x = _v380
        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
        if python3:
          _v379.frame_id = str[start:end].decode('utf-8')
        else:
          _v379.frame_id = str[start:end]
        _v381 = _v378.pose
        _v382 = _v381.position
        _x = _v382
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v383 = _v381.orientation
        _x = _v383
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v384 = _v364.roi_box_dims
        _x = _v384
        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
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.movable_obstacles.append(val1)
      start = end
      end += 4
      (self.goal.max_contact_force,) = _struct_f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_12d = struct.Struct("<12d")
_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_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_4IB = struct.Struct("<4IB")