_GraspHandPostureExecutionGoal.py

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

import geometry_msgs.msg
import manipulation_msgs.msg
import std_msgs.msg
import sensor_msgs.msg

class GraspHandPostureExecutionGoal(genpy.Message):
  _md5sum = "d84b52613849c9277c855c36241b2a5d"
  _type = "object_manipulation_msgs/GraspHandPostureExecutionGoal"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for requesting the finger posture part of grasp be physically carried out by a hand
# the name of the arm being used is not in here, as this will be sent to a specific action server
# for each arm

# the grasp to be executed
manipulation_msgs/Grasp grasp

# the goal of this action
# requests that the hand be set in the pre-grasp posture
int32 PRE_GRASP=1
# requests that the hand execute the actual grasp
int32 GRASP=2
# requests that the hand open to release the object
int32 RELEASE=3
int32 goal

# the max contact force to use (<=0 if no desired max)
float32 max_contact_force


================================================================================
MSG: manipulation_msgs/Grasp
# A name for this grasp
string id

# 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/PoseStamped grasp_pose

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

# The approach motion
GripperTranslation approach

# The retreat motion
GripperTranslation retreat

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

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

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


Header header

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

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

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

float64 x
float64 y
float64 z
"""
  # Pseudo-constants
  PRE_GRASP = 1
  GRASP = 2
  RELEASE = 3

  __slots__ = ['grasp','goal','max_contact_force']
  _slot_types = ['manipulation_msgs/Grasp','int32','float32']

  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:
       grasp,goal,max_contact_force

    :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(GraspHandPostureExecutionGoal, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      if self.goal is None:
        self.goal = 0
      if self.max_contact_force is None:
        self.max_contact_force = 0.
    else:
      self.grasp = manipulation_msgs.msg.Grasp()
      self.goal = 0
      self.max_contact_force = 0.

  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.grasp.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_3I.pack(_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      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.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.position))
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.velocity))
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      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.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.position))
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.velocity))
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.grasp.grasp_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_8d3I.pack(_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs))
      _x = self.grasp.approach.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_3d2f3I.pack(_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.grasp.retreat.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_3d3f.pack(_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force))
      length = len(self.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_if.pack(_x.goal, _x.max_contact_force))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.id = str[start:end].decode('utf-8')
      else:
        self.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 8
      (_x.goal, _x.max_contact_force,) = _struct_if.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.grasp.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_3I.pack(_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      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.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.position.tostring())
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      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.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.position.tostring())
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.velocity.tostring())
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.grasp.grasp_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_8d3I.pack(_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs))
      _x = self.grasp.approach.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_3d2f3I.pack(_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.grasp.retreat.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_3d3f.pack(_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force))
      length = len(self.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_if.pack(_x.goal, _x.max_contact_force))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.id = str[start:end].decode('utf-8')
      else:
        self.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 8
      (_x.goal, _x.max_contact_force,) = _struct_if.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_8d3I = struct.Struct("<8d3I")
_struct_3I = struct.Struct("<3I")
_struct_if = struct.Struct("<if")
_struct_3d3f = struct.Struct("<3d3f")
_struct_3d2f3I = struct.Struct("<3d2f3I")