_PickupAction.py

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"""autogenerated by genpy from object_manipulation_msgs/PickupAction.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 manipulation_msgs.msg
import geometry_msgs.msg
import object_recognition_msgs.msg
import sensor_msgs.msg
import std_msgs.msg
import genpy
import household_objects_database_msgs.msg

class PickupAction(genpy.Message):
  _md5sum = "0776b761eb0232f3e1208a2b89c18079"
  _type = "object_manipulation_msgs/PickupAction"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PickupActionGoal action_goal
PickupActionResult action_result
PickupActionFeedback action_feedback

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

Header header
actionlib_msgs/GoalID goal_id
PickupGoal goal

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

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

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


================================================================================
MSG: object_manipulation_msgs/PickupGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for picking up an object

# which arm to be used for grasping
string arm_name

# the object to be grasped
manipulation_msgs/GraspableObject target

# a list of grasps to be used
# if empty, the grasp executive will call one of its own planners
manipulation_msgs/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
manipulation_msgs/GraspableObject[] movable_obstacles

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


================================================================================
MSG: 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
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

# if the object was recognized by the ORK pipeline, its type will be in here
# if this is not empty, then the string in here will be converted to a household_objects_database id
# leave this empty if providing an id in the model_id field
object_recognition_msgs/ObjectType type

# 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: object_recognition_msgs/ObjectType
################################################## OBJECT ID #########################################################

# Contains information about the type of a found object. Those two sets of parameters together uniquely define an
# object

# The key of the found object: the unique identifier in the given db
string key

# The db parameters stored as a JSON/compressed YAML string. An object id does not make sense without the corresponding
# database. E.g., in object_recognition, it can look like: "{'type':'CouchDB', 'root':'http://localhost'}"
# There is no conventional format for those parameters and it's nice to keep that flexibility.
# The object_recognition_core as a generic DB type that can read those fields
# Current examples:
# For CouchDB:
#   type: 'CouchDB'
#   root: 'http://localhost:5984'
#   collection: 'object_recognition'
# For SQL household database:
#   type: 'SqlHousehold'
#   host: 'wgs36'
#   port: 5432
#   user: 'willow'
#   password: 'willow'
#   name: 'household_objects'
#   module: 'tabletop'
string db

================================================================================
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: 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 include/sensor_msgs/image_encodings.h

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

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

================================================================================
MSG: arm_navigation_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint
float64 weight
================================================================================
MSG: arm_navigation_msgs/PositionConstraint
# This message contains the definition of a position constraint.
Header header

# The robot link this constraint refers to
string link_name

# The offset (in the link frame) for the target point on the link we are planning for
geometry_msgs/Point target_point_offset

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

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

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

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

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

byte type


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

# for sphere
# radius := dimensions[0]

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

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


#### define mesh ####

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

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

# The robot link this constraint refers to
string link_name

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

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

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

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

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

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

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

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


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

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

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

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

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

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

# padding to apply to the link
float64 padding

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

Header header
actionlib_msgs/GoalStatus status
PickupResult result

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

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


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

# The overall result of the pickup attempt
ManipulationResult manipulation_result

# The performed grasp, if attempt was successful
manipulation_msgs/Grasp grasp

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

# the outcomes of the attempted grasps, in the same order as attempted_grasps
GraspResult[] attempted_grasp_results


================================================================================
MSG: object_manipulation_msgs/ManipulationResult
# Result codes for manipulation tasks

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

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

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

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

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

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

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

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

# the actual value of this error code
int32 value

================================================================================
MSG: object_manipulation_msgs/GraspResult
int32 SUCCESS = 1
int32 GRASP_OUT_OF_REACH = 2
int32 GRASP_IN_COLLISION = 3
int32 GRASP_UNFEASIBLE = 4
int32 PREGRASP_OUT_OF_REACH = 5
int32 PREGRASP_IN_COLLISION = 6
int32 PREGRASP_UNFEASIBLE = 7
int32 LIFT_OUT_OF_REACH = 8
int32 LIFT_IN_COLLISION = 9
int32 LIFT_UNFEASIBLE = 10
int32 MOVE_ARM_FAILED = 11
int32 GRASP_FAILED = 12
int32 LIFT_FAILED = 13
int32 RETREAT_FAILED = 14
int32 result_code

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

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

Header header
actionlib_msgs/GoalStatus status
PickupFeedback feedback

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

# The number of the grasp currently being attempted
int32 current_grasp

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


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

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       action_goal,action_result,action_feedback

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PickupAction, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
    else:
      self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      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.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.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.action_goal.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.action_goal.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.action_goal.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v1 = val1.type
        _x = _v1.key
        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 = _v1.db
        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))
        _v2 = val1.pose
        _v3 = _v2.header
        buff.write(_struct_I.pack(_v3.seq))
        _v4 = _v3.stamp
        _x = _v4
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v3.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))
        _v5 = _v2.pose
        _v6 = _v5.position
        _x = _v6
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v7 = _v5.orientation
        _x = _v7
        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.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs))
      _x = self.action_goal.goal.target.cluster.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        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.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cloud.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width))
      length = len(self.action_goal.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        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.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step))
      _x = self.action_goal.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_goal.goal.target.region.cloud.is_dense))
      length = len(self.action_goal.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.action_goal.goal.target.region.mask))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.image.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width))
      _x = self.action_goal.goal.target.region.image.encoding
      length = len(_x)
      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.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step))
      _x = self.action_goal.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width))
      _x = self.action_goal.goal.target.region.disparity_image.encoding
      length = len(_x)
      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.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step))
      _x = self.action_goal.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width))
      _x = self.action_goal.goal.target.region.cam_info.distortion_model
      length = len(_x)
      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.action_goal.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_goal.goal.target.region.cam_info.D))
      buff.write(_struct_9d.pack(*self.action_goal.goal.target.region.cam_info.K))
      buff.write(_struct_9d.pack(*self.action_goal.goal.target.region.cam_info.R))
      buff.write(_struct_12d.pack(*self.action_goal.goal.target.region.cam_info.P))
      _x = self
      buff.write(_struct_6IB3I.pack(_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z))
      _x = self.action_goal.goal.target.collision_name
      length = len(_x)
      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.action_goal.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.desired_grasps:
        _x = val1.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))
        _v8 = val1.pre_grasp_posture
        _v9 = _v8.header
        buff.write(_struct_I.pack(_v9.seq))
        _v10 = _v9.stamp
        _x = _v10
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v9.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(_v8.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v8.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(_v8.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v8.position))
        length = len(_v8.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v8.velocity))
        length = len(_v8.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v8.effort))
        _v11 = val1.grasp_posture
        _v12 = _v11.header
        buff.write(_struct_I.pack(_v12.seq))
        _v13 = _v12.stamp
        _x = _v13
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v12.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(_v11.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v11.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(_v11.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v11.position))
        length = len(_v11.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v11.velocity))
        length = len(_v11.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v11.effort))
        _v14 = val1.grasp_pose
        _v15 = _v14.header
        buff.write(_struct_I.pack(_v15.seq))
        _v16 = _v15.stamp
        _x = _v16
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v15.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))
        _v17 = _v14.pose
        _v18 = _v17.position
        _x = _v18
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v19 = _v17.orientation
        _x = _v19
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v20 = val1.approach
        _v21 = _v20.direction
        _v22 = _v21.header
        buff.write(_struct_I.pack(_v22.seq))
        _v23 = _v22.stamp
        _x = _v23
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v22.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))
        _v24 = _v21.vector
        _x = _v24
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v20
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v25 = val1.retreat
        _v26 = _v25.direction
        _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))
        _v29 = _v26.vector
        _x = _v29
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v25
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs))
      _x = self.action_goal.goal.lift.direction.header.frame_id
      length = len(_x)
      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.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      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.action_goal.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.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        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.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v30 = val1.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 = 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))
        _v32 = val1.target_point_offset
        _x = _v32
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v33 = val1.position
        _x = _v33
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v34 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v34.type))
        length = len(_v34.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v34.dimensions))
        length = len(_v34.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v34.triangles))
        length = len(_v34.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v34.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v35 = val1.constraint_region_orientation
        _x = _v35
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v36 = val1.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 = 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))
        _v38 = val1.orientation
        _x = _v38
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _v39 = val1.header
        buff.write(_struct_I.pack(_v39.seq))
        _v40 = _v39.stamp
        _x = _v40
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v39.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))
        _v41 = val1.target
        _v42 = _v41.header
        buff.write(_struct_I.pack(_v42.seq))
        _v43 = _v42.stamp
        _x = _v43
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v42.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))
        _v44 = _v41.point
        _x = _v44
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v45 = val1.sensor_pose
        _v46 = _v45.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))
        _v48 = _v45.pose
        _v49 = _v48.position
        _x = _v49
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v50 = _v48.orientation
        _x = _v50
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.action_goal.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        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.action_goal.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        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.action_goal.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        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))
          _v51 = val2.type
          _x = _v51.key
          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 = _v51.db
          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))
          _v52 = val2.pose
          _v53 = _v52.header
          buff.write(_struct_I.pack(_v53.seq))
          _v54 = _v53.stamp
          _x = _v54
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v53.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))
          _v55 = _v52.pose
          _v56 = _v55.position
          _x = _v56
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v57 = _v55.orientation
          _x = _v57
          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))
        _v58 = val1.cluster
        _v59 = _v58.header
        buff.write(_struct_I.pack(_v59.seq))
        _v60 = _v59.stamp
        _x = _v60
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v59.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(_v58.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v58.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v58.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v58.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))
        _v61 = val1.region
        _v62 = _v61.cloud
        _v63 = _v62.header
        buff.write(_struct_I.pack(_v63.seq))
        _v64 = _v63.stamp
        _x = _v64
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v63.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 = _v62
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v62.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v62.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 = _v62
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v62.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(_v62.is_dense))
        length = len(_v61.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v61.mask))
        _v65 = _v61.image
        _v66 = _v65.header
        buff.write(_struct_I.pack(_v66.seq))
        _v67 = _v66.stamp
        _x = _v67
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v66.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 = _v65
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v65.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 = _v65
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v65.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))
        _v68 = _v61.disparity_image
        _v69 = _v68.header
        buff.write(_struct_I.pack(_v69.seq))
        _v70 = _v69.stamp
        _x = _v70
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v69.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 = _v68
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v68.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 = _v68
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v68.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))
        _v71 = _v61.cam_info
        _v72 = _v71.header
        buff.write(_struct_I.pack(_v72.seq))
        _v73 = _v72.stamp
        _x = _v73
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v72.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 = _v71
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v71.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(_v71.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v71.D))
        buff.write(_struct_9d.pack(*_v71.K))
        buff.write(_struct_9d.pack(*_v71.R))
        buff.write(_struct_12d.pack(*_v71.P))
        _x = _v71
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v74 = _v71.roi
        _x = _v74
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v75 = _v61.roi_box_pose
        _v76 = _v75.header
        buff.write(_struct_I.pack(_v76.seq))
        _v77 = _v76.stamp
        _x = _v77
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v76.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))
        _v78 = _v75.pose
        _v79 = _v78.position
        _x = _v79
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v80 = _v78.orientation
        _x = _v80
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v81 = _v61.roi_box_dims
        _x = _v81
        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))
      _x = self
      buff.write(_struct_f3I.pack(_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      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.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      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_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      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(self.action_result.result.manipulation_result.value))
      _x = self.action_result.result.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.action_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      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.action_result.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        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.action_result.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.position))
      length = len(self.action_result.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.velocity))
      length = len(self.action_result.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      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.action_result.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.grasp_posture.name:
        length = len(val1)
        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.action_result.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.position))
      length = len(self.action_result.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.velocity))
      length = len(self.action_result.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.action_result.result.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_pose.header.seq, _x.action_result.result.grasp.grasp_pose.header.stamp.secs, _x.action_result.result.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.grasp_pose.pose.position.x, _x.action_result.result.grasp.grasp_pose.pose.position.y, _x.action_result.result.grasp.grasp_pose.pose.position.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.x, _x.action_result.result.grasp.grasp_pose.pose.orientation.y, _x.action_result.result.grasp.grasp_pose.pose.orientation.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.w, _x.action_result.result.grasp.grasp_quality, _x.action_result.result.grasp.approach.direction.header.seq, _x.action_result.result.grasp.approach.direction.header.stamp.secs, _x.action_result.result.grasp.approach.direction.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.approach.direction.vector.x, _x.action_result.result.grasp.approach.direction.vector.y, _x.action_result.result.grasp.approach.direction.vector.z, _x.action_result.result.grasp.approach.desired_distance, _x.action_result.result.grasp.approach.min_distance, _x.action_result.result.grasp.retreat.direction.header.seq, _x.action_result.result.grasp.retreat.direction.header.stamp.secs, _x.action_result.result.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.retreat.direction.vector.x, _x.action_result.result.grasp.retreat.direction.vector.y, _x.action_result.result.grasp.retreat.direction.vector.z, _x.action_result.result.grasp.retreat.desired_distance, _x.action_result.result.grasp.retreat.min_distance, _x.action_result.result.grasp.max_contact_force))
      length = len(self.action_result.result.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.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))
      length = len(self.action_result.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasps:
        _x = val1.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))
        _v82 = val1.pre_grasp_posture
        _v83 = _v82.header
        buff.write(_struct_I.pack(_v83.seq))
        _v84 = _v83.stamp
        _x = _v84
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v83.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(_v82.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v82.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(_v82.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v82.position))
        length = len(_v82.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v82.velocity))
        length = len(_v82.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v82.effort))
        _v85 = val1.grasp_posture
        _v86 = _v85.header
        buff.write(_struct_I.pack(_v86.seq))
        _v87 = _v86.stamp
        _x = _v87
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v86.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(_v85.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.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(_v85.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v85.position))
        length = len(_v85.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v85.velocity))
        length = len(_v85.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v85.effort))
        _v88 = val1.grasp_pose
        _v89 = _v88.header
        buff.write(_struct_I.pack(_v89.seq))
        _v90 = _v89.stamp
        _x = _v90
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v89.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))
        _v91 = _v88.pose
        _v92 = _v91.position
        _x = _v92
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v93 = _v91.orientation
        _x = _v93
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v94 = val1.approach
        _v95 = _v94.direction
        _v96 = _v95.header
        buff.write(_struct_I.pack(_v96.seq))
        _v97 = _v96.stamp
        _x = _v97
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v96.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))
        _v98 = _v95.vector
        _x = _v98
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v94
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v99 = val1.retreat
        _v100 = _v99.direction
        _v101 = _v100.header
        buff.write(_struct_I.pack(_v101.seq))
        _v102 = _v101.stamp
        _x = _v102
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v101.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))
        _v103 = _v100.vector
        _x = _v103
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v99
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      length = len(self.action_result.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
      _x = self
      buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      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.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      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_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      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.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps))
    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.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v104 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v104.key = str[start:end].decode('utf-8')
        else:
          _v104.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v104.db = str[start:end].decode('utf-8')
        else:
          _v104.db = str[start:end]
        _v105 = val1.pose
        _v106 = _v105.header
        start = end
        end += 4
        (_v106.seq,) = _struct_I.unpack(str[start:end])
        _v107 = _v106.stamp
        _x = _v107
        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:
          _v106.frame_id = str[start:end].decode('utf-8')
        else:
          _v106.frame_id = str[start:end]
        _v108 = _v105.pose
        _v109 = _v108.position
        _x = _v109
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v110 = _v108.orientation
        _x = _v110
        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.action_goal.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.action_goal.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_bigendian = bool(self.action_goal.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_dense = bool(self.action_goal.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.mask = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.cam_info.D = struct.unpack(pattern, str[start:end])
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.K = _struct_9d.unpack(str[start:end])
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.R = _struct_9d.unpack(str[start:end])
      start = end
      end += 96
      self.action_goal.goal.target.region.cam_info.P = _struct_12d.unpack(str[start:end])
      _x = self
      start = end
      end += 37
      (_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.action_goal.goal.target.region.cam_info.roi.do_rectify = bool(self.action_goal.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.desired_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v111 = val1.pre_grasp_posture
        _v112 = _v111.header
        start = end
        end += 4
        (_v112.seq,) = _struct_I.unpack(str[start:end])
        _v113 = _v112.stamp
        _x = _v113
        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:
          _v112.frame_id = str[start:end].decode('utf-8')
        else:
          _v112.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v111.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]
          _v111.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v111.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)
        _v111.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)
        _v111.effort = struct.unpack(pattern, str[start:end])
        _v114 = val1.grasp_posture
        _v115 = _v114.header
        start = end
        end += 4
        (_v115.seq,) = _struct_I.unpack(str[start:end])
        _v116 = _v115.stamp
        _x = _v116
        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:
          _v115.frame_id = str[start:end].decode('utf-8')
        else:
          _v115.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v114.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]
          _v114.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v114.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)
        _v114.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)
        _v114.effort = struct.unpack(pattern, str[start:end])
        _v117 = val1.grasp_pose
        _v118 = _v117.header
        start = end
        end += 4
        (_v118.seq,) = _struct_I.unpack(str[start:end])
        _v119 = _v118.stamp
        _x = _v119
        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:
          _v118.frame_id = str[start:end].decode('utf-8')
        else:
          _v118.frame_id = str[start:end]
        _v120 = _v117.pose
        _v121 = _v120.position
        _x = _v121
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v122 = _v120.orientation
        _x = _v122
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v123 = val1.approach
        _v124 = _v123.direction
        _v125 = _v124.header
        start = end
        end += 4
        (_v125.seq,) = _struct_I.unpack(str[start:end])
        _v126 = _v125.stamp
        _x = _v126
        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:
          _v125.frame_id = str[start:end].decode('utf-8')
        else:
          _v125.frame_id = str[start:end]
        _v127 = _v124.vector
        _x = _v127
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v123
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v128 = val1.retreat
        _v129 = _v128.direction
        _v130 = _v129.header
        start = end
        end += 4
        (_v130.seq,) = _struct_I.unpack(str[start:end])
        _v131 = _v130.stamp
        _x = _v131
        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:
          _v130.frame_id = str[start:end].decode('utf-8')
        else:
          _v130.frame_id = str[start:end]
        _v132 = _v129.vector
        _x = _v132
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v128
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.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:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_goal.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance,) = _struct_3d2f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      self.action_goal.goal.use_reactive_execution = bool(self.action_goal.goal.use_reactive_execution)
      self.action_goal.goal.use_reactive_lift = bool(self.action_goal.goal.use_reactive_lift)
      self.action_goal.goal.only_perform_feasibility_test = bool(self.action_goal.goal.only_perform_feasibility_test)
      self.action_goal.goal.ignore_collisions = bool(self.action_goal.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v133 = val1.header
        start = end
        end += 4
        (_v133.seq,) = _struct_I.unpack(str[start:end])
        _v134 = _v133.stamp
        _x = _v134
        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:
          _v133.frame_id = str[start:end].decode('utf-8')
        else:
          _v133.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]
        _v135 = val1.target_point_offset
        _x = _v135
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v136 = val1.position
        _x = _v136
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v137 = val1.constraint_region_shape
        start = end
        end += 1
        (_v137.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)
        _v137.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)
        _v137.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v137.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])
          _v137.vertices.append(val3)
        _v138 = val1.constraint_region_orientation
        _x = _v138
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v139 = val1.header
        start = end
        end += 4
        (_v139.seq,) = _struct_I.unpack(str[start:end])
        _v140 = _v139.stamp
        _x = _v140
        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:
          _v139.frame_id = str[start:end].decode('utf-8')
        else:
          _v139.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])
        _v141 = val1.orientation
        _x = _v141
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _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]
        _v144 = val1.target
        _v145 = _v144.header
        start = end
        end += 4
        (_v145.seq,) = _struct_I.unpack(str[start:end])
        _v146 = _v145.stamp
        _x = _v146
        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:
          _v145.frame_id = str[start:end].decode('utf-8')
        else:
          _v145.frame_id = str[start:end]
        _v147 = _v144.point
        _x = _v147
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v148 = val1.sensor_pose
        _v149 = _v148.header
        start = end
        end += 4
        (_v149.seq,) = _struct_I.unpack(str[start:end])
        _v150 = _v149.stamp
        _x = _v150
        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:
          _v149.frame_id = str[start:end].decode('utf-8')
        else:
          _v149.frame_id = str[start:end]
        _v151 = _v148.pose
        _v152 = _v151.position
        _x = _v152
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v153 = _v151.orientation
        _x = _v153
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = 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])
          _v154 = val2.type
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v154.key = str[start:end].decode('utf-8')
          else:
            _v154.key = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v154.db = str[start:end].decode('utf-8')
          else:
            _v154.db = str[start:end]
          _v155 = val2.pose
          _v156 = _v155.header
          start = end
          end += 4
          (_v156.seq,) = _struct_I.unpack(str[start:end])
          _v157 = _v156.stamp
          _x = _v157
          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:
            _v156.frame_id = str[start:end].decode('utf-8')
          else:
            _v156.frame_id = str[start:end]
          _v158 = _v155.pose
          _v159 = _v158.position
          _x = _v159
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v160 = _v158.orientation
          _x = _v160
          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)
        _v161 = val1.cluster
        _v162 = _v161.header
        start = end
        end += 4
        (_v162.seq,) = _struct_I.unpack(str[start:end])
        _v163 = _v162.stamp
        _x = _v163
        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:
          _v162.frame_id = str[start:end].decode('utf-8')
        else:
          _v162.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v161.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])
          _v161.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v161.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])
          _v161.channels.append(val3)
        _v164 = val1.region
        _v165 = _v164.cloud
        _v166 = _v165.header
        start = end
        end += 4
        (_v166.seq,) = _struct_I.unpack(str[start:end])
        _v167 = _v166.stamp
        _x = _v167
        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:
          _v166.frame_id = str[start:end].decode('utf-8')
        else:
          _v166.frame_id = str[start:end]
        _x = _v165
        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])
        _v165.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])
          _v165.fields.append(val4)
        _x = _v165
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v165.is_bigendian = bool(_v165.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v165.data = str[start:end]
        start = end
        end += 1
        (_v165.is_dense,) = _struct_B.unpack(str[start:end])
        _v165.is_dense = bool(_v165.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v164.mask = struct.unpack(pattern, str[start:end])
        _v168 = _v164.image
        _v169 = _v168.header
        start = end
        end += 4
        (_v169.seq,) = _struct_I.unpack(str[start:end])
        _v170 = _v169.stamp
        _x = _v170
        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:
          _v169.frame_id = str[start:end].decode('utf-8')
        else:
          _v169.frame_id = str[start:end]
        _x = _v168
        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:
          _v168.encoding = str[start:end].decode('utf-8')
        else:
          _v168.encoding = str[start:end]
        _x = _v168
        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
        _v168.data = str[start:end]
        _v171 = _v164.disparity_image
        _v172 = _v171.header
        start = end
        end += 4
        (_v172.seq,) = _struct_I.unpack(str[start:end])
        _v173 = _v172.stamp
        _x = _v173
        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:
          _v172.frame_id = str[start:end].decode('utf-8')
        else:
          _v172.frame_id = str[start:end]
        _x = _v171
        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:
          _v171.encoding = str[start:end].decode('utf-8')
        else:
          _v171.encoding = str[start:end]
        _x = _v171
        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
        _v171.data = str[start:end]
        _v174 = _v164.cam_info
        _v175 = _v174.header
        start = end
        end += 4
        (_v175.seq,) = _struct_I.unpack(str[start:end])
        _v176 = _v175.stamp
        _x = _v176
        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:
          _v175.frame_id = str[start:end].decode('utf-8')
        else:
          _v175.frame_id = str[start:end]
        _x = _v174
        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:
          _v174.distortion_model = str[start:end].decode('utf-8')
        else:
          _v174.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)
        _v174.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v174.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v174.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v174.P = _struct_12d.unpack(str[start:end])
        _x = _v174
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v177 = _v174.roi
        _x = _v177
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v177.do_rectify = bool(_v177.do_rectify)
        _v178 = _v164.roi_box_pose
        _v179 = _v178.header
        start = end
        end += 4
        (_v179.seq,) = _struct_I.unpack(str[start:end])
        _v180 = _v179.stamp
        _x = _v180
        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:
          _v179.frame_id = str[start:end].decode('utf-8')
        else:
          _v179.frame_id = str[start:end]
        _v181 = _v178.pose
        _v182 = _v181.position
        _x = _v182
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v183 = _v181.orientation
        _x = _v183
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v184 = _v164.roi_box_dims
        _x = _v184
        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.action_goal.goal.movable_obstacles.append(val1)
      _x = self
      start = end
      end += 16
      (_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8')
      else:
        self.action_result.status.text = str[start:end]
      start = end
      end += 4
      (self.action_result.result.manipulation_result.value,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.action_result.result.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.action_result.result.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_pose.header.seq, _x.action_result.result.grasp.grasp_pose.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.action_result.result.grasp.grasp_pose.pose.position.x, _x.action_result.result.grasp.grasp_pose.pose.position.y, _x.action_result.result.grasp.grasp_pose.pose.position.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.x, _x.action_result.result.grasp.grasp_pose.pose.orientation.y, _x.action_result.result.grasp.grasp_pose.pose.orientation.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.w, _x.action_result.result.grasp.grasp_quality, _x.action_result.result.grasp.approach.direction.header.seq, _x.action_result.result.grasp.approach.direction.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_result.result.grasp.approach.direction.vector.x, _x.action_result.result.grasp.approach.direction.vector.y, _x.action_result.result.grasp.approach.direction.vector.z, _x.action_result.result.grasp.approach.desired_distance, _x.action_result.result.grasp.approach.min_distance, _x.action_result.result.grasp.retreat.direction.header.seq, _x.action_result.result.grasp.retreat.direction.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.action_result.result.grasp.retreat.direction.vector.x, _x.action_result.result.grasp.retreat.direction.vector.y, _x.action_result.result.grasp.retreat.direction.vector.z, _x.action_result.result.grasp.retreat.desired_distance, _x.action_result.result.grasp.retreat.min_distance, _x.action_result.result.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.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.action_result.result.grasp.allowed_touch_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v185 = val1.pre_grasp_posture
        _v186 = _v185.header
        start = end
        end += 4
        (_v186.seq,) = _struct_I.unpack(str[start:end])
        _v187 = _v186.stamp
        _x = _v187
        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:
          _v186.frame_id = str[start:end].decode('utf-8')
        else:
          _v186.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v185.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]
          _v185.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v185.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)
        _v185.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)
        _v185.effort = struct.unpack(pattern, str[start:end])
        _v188 = val1.grasp_posture
        _v189 = _v188.header
        start = end
        end += 4
        (_v189.seq,) = _struct_I.unpack(str[start:end])
        _v190 = _v189.stamp
        _x = _v190
        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:
          _v189.frame_id = str[start:end].decode('utf-8')
        else:
          _v189.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v188.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]
          _v188.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v188.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)
        _v188.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)
        _v188.effort = struct.unpack(pattern, str[start:end])
        _v191 = val1.grasp_pose
        _v192 = _v191.header
        start = end
        end += 4
        (_v192.seq,) = _struct_I.unpack(str[start:end])
        _v193 = _v192.stamp
        _x = _v193
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v192.frame_id = str[start:end].decode('utf-8')
        else:
          _v192.frame_id = str[start:end]
        _v194 = _v191.pose
        _v195 = _v194.position
        _x = _v195
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v196 = _v194.orientation
        _x = _v196
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v197 = val1.approach
        _v198 = _v197.direction
        _v199 = _v198.header
        start = end
        end += 4
        (_v199.seq,) = _struct_I.unpack(str[start:end])
        _v200 = _v199.stamp
        _x = _v200
        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:
          _v199.frame_id = str[start:end].decode('utf-8')
        else:
          _v199.frame_id = str[start:end]
        _v201 = _v198.vector
        _x = _v201
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v197
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v202 = val1.retreat
        _v203 = _v202.direction
        _v204 = _v203.header
        start = end
        end += 4
        (_v204.seq,) = _struct_I.unpack(str[start:end])
        _v205 = _v204.stamp
        _x = _v205
        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:
          _v204.frame_id = str[start:end].decode('utf-8')
        else:
          _v204.frame_id = str[start:end]
        _v206 = _v203.vector
        _x = _v206
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v202
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.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:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_result.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasp_results = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.action_result.result.attempted_grasp_results.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.text = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps,) = _struct_2i.unpack(str[start:end])
      return self
    except struct.error as e:
      raise 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.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      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.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.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.action_goal.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.action_goal.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.action_goal.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v207 = val1.type
        _x = _v207.key
        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 = _v207.db
        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))
        _v208 = val1.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(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.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs))
      _x = self.action_goal.goal.target.cluster.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        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.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cloud.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width))
      length = len(self.action_goal.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        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.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step))
      _x = self.action_goal.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_goal.goal.target.region.cloud.is_dense))
      length = len(self.action_goal.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.action_goal.goal.target.region.mask.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.image.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width))
      _x = self.action_goal.goal.target.region.image.encoding
      length = len(_x)
      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.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step))
      _x = self.action_goal.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width))
      _x = self.action_goal.goal.target.region.disparity_image.encoding
      length = len(_x)
      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.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step))
      _x = self.action_goal.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width))
      _x = self.action_goal.goal.target.region.cam_info.distortion_model
      length = len(_x)
      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.action_goal.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_goal.goal.target.region.cam_info.D.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.K.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.R.tostring())
      buff.write(self.action_goal.goal.target.region.cam_info.P.tostring())
      _x = self
      buff.write(_struct_6IB3I.pack(_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.action_goal.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      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.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z))
      _x = self.action_goal.goal.target.collision_name
      length = len(_x)
      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.action_goal.goal.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.desired_grasps:
        _x = val1.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))
        _v214 = val1.pre_grasp_posture
        _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.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v214.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(_v214.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v214.position.tostring())
        length = len(_v214.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v214.velocity.tostring())
        length = len(_v214.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v214.effort.tostring())
        _v217 = val1.grasp_posture
        _v218 = _v217.header
        buff.write(_struct_I.pack(_v218.seq))
        _v219 = _v218.stamp
        _x = _v219
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v218.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(_v217.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v217.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(_v217.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v217.position.tostring())
        length = len(_v217.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v217.velocity.tostring())
        length = len(_v217.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v217.effort.tostring())
        _v220 = val1.grasp_pose
        _v221 = _v220.header
        buff.write(_struct_I.pack(_v221.seq))
        _v222 = _v221.stamp
        _x = _v222
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v221.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))
        _v223 = _v220.pose
        _v224 = _v223.position
        _x = _v224
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v225 = _v223.orientation
        _x = _v225
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v226 = val1.approach
        _v227 = _v226.direction
        _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))
        _v230 = _v227.vector
        _x = _v230
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v226
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v231 = val1.retreat
        _v232 = _v231.direction
        _v233 = _v232.header
        buff.write(_struct_I.pack(_v233.seq))
        _v234 = _v233.stamp
        _x = _v234
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v233.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))
        _v235 = _v232.vector
        _x = _v235
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v231
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs))
      _x = self.action_goal.goal.lift.direction.header.frame_id
      length = len(_x)
      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.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance))
      _x = self.action_goal.goal.collision_object_name
      length = len(_x)
      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.action_goal.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.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        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.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v236 = val1.header
        buff.write(_struct_I.pack(_v236.seq))
        _v237 = _v236.stamp
        _x = _v237
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v236.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))
        _v238 = val1.target_point_offset
        _x = _v238
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v239 = val1.position
        _x = _v239
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v240 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v240.type))
        length = len(_v240.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v240.dimensions.tostring())
        length = len(_v240.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v240.triangles.tostring())
        length = len(_v240.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v240.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v241 = val1.constraint_region_orientation
        _x = _v241
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v242 = val1.header
        buff.write(_struct_I.pack(_v242.seq))
        _v243 = _v242.stamp
        _x = _v243
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v242.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))
        _v244 = val1.orientation
        _x = _v244
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _v245 = val1.header
        buff.write(_struct_I.pack(_v245.seq))
        _v246 = _v245.stamp
        _x = _v246
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v245.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))
        _v247 = val1.target
        _v248 = _v247.header
        buff.write(_struct_I.pack(_v248.seq))
        _v249 = _v248.stamp
        _x = _v249
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v248.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))
        _v250 = _v247.point
        _x = _v250
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v251 = val1.sensor_pose
        _v252 = _v251.header
        buff.write(_struct_I.pack(_v252.seq))
        _v253 = _v252.stamp
        _x = _v253
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v252.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))
        _v254 = _v251.pose
        _v255 = _v254.position
        _x = _v255
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v256 = _v254.orientation
        _x = _v256
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.action_goal.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        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.action_goal.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.additional_link_padding:
        _x = val1.link_name
        length = len(_x)
        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.action_goal.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        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))
          _v257 = val2.type
          _x = _v257.key
          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 = _v257.db
          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))
          _v258 = val2.pose
          _v259 = _v258.header
          buff.write(_struct_I.pack(_v259.seq))
          _v260 = _v259.stamp
          _x = _v260
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v259.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))
          _v261 = _v258.pose
          _v262 = _v261.position
          _x = _v262
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v263 = _v261.orientation
          _x = _v263
          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))
        _v264 = val1.cluster
        _v265 = _v264.header
        buff.write(_struct_I.pack(_v265.seq))
        _v266 = _v265.stamp
        _x = _v266
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v265.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(_v264.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v264.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v264.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v264.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())
        _v267 = val1.region
        _v268 = _v267.cloud
        _v269 = _v268.header
        buff.write(_struct_I.pack(_v269.seq))
        _v270 = _v269.stamp
        _x = _v270
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v269.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 = _v268
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v268.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v268.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 = _v268
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v268.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(_v268.is_dense))
        length = len(_v267.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v267.mask.tostring())
        _v271 = _v267.image
        _v272 = _v271.header
        buff.write(_struct_I.pack(_v272.seq))
        _v273 = _v272.stamp
        _x = _v273
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v272.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 = _v271
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v271.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 = _v271
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v271.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))
        _v274 = _v267.disparity_image
        _v275 = _v274.header
        buff.write(_struct_I.pack(_v275.seq))
        _v276 = _v275.stamp
        _x = _v276
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v275.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 = _v274
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v274.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 = _v274
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v274.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))
        _v277 = _v267.cam_info
        _v278 = _v277.header
        buff.write(_struct_I.pack(_v278.seq))
        _v279 = _v278.stamp
        _x = _v279
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v278.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 = _v277
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v277.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(_v277.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v277.D.tostring())
        buff.write(_v277.K.tostring())
        buff.write(_v277.R.tostring())
        buff.write(_v277.P.tostring())
        _x = _v277
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v280 = _v277.roi
        _x = _v280
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v281 = _v267.roi_box_pose
        _v282 = _v281.header
        buff.write(_struct_I.pack(_v282.seq))
        _v283 = _v282.stamp
        _x = _v283
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v282.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))
        _v284 = _v281.pose
        _v285 = _v284.position
        _x = _v285
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v286 = _v284.orientation
        _x = _v286
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v287 = _v267.roi_box_dims
        _x = _v287
        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))
      _x = self
      buff.write(_struct_f3I.pack(_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      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.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      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_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      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(self.action_result.result.manipulation_result.value))
      _x = self.action_result.result.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.action_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      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.action_result.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        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.action_result.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.position.tostring())
      length = len(self.action_result.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.action_result.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.action_result.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      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.action_result.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.grasp.grasp_posture.name:
        length = len(val1)
        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.action_result.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.position.tostring())
      length = len(self.action_result.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.velocity.tostring())
      length = len(self.action_result.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.grasp.grasp_pose.header.seq, _x.action_result.result.grasp.grasp_pose.header.stamp.secs, _x.action_result.result.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.grasp_pose.pose.position.x, _x.action_result.result.grasp.grasp_pose.pose.position.y, _x.action_result.result.grasp.grasp_pose.pose.position.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.x, _x.action_result.result.grasp.grasp_pose.pose.orientation.y, _x.action_result.result.grasp.grasp_pose.pose.orientation.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.w, _x.action_result.result.grasp.grasp_quality, _x.action_result.result.grasp.approach.direction.header.seq, _x.action_result.result.grasp.approach.direction.header.stamp.secs, _x.action_result.result.grasp.approach.direction.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.approach.direction.vector.x, _x.action_result.result.grasp.approach.direction.vector.y, _x.action_result.result.grasp.approach.direction.vector.z, _x.action_result.result.grasp.approach.desired_distance, _x.action_result.result.grasp.approach.min_distance, _x.action_result.result.grasp.retreat.direction.header.seq, _x.action_result.result.grasp.retreat.direction.header.stamp.secs, _x.action_result.result.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.action_result.result.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.action_result.result.grasp.retreat.direction.vector.x, _x.action_result.result.grasp.retreat.direction.vector.y, _x.action_result.result.grasp.retreat.direction.vector.z, _x.action_result.result.grasp.retreat.desired_distance, _x.action_result.result.grasp.retreat.min_distance, _x.action_result.result.grasp.max_contact_force))
      length = len(self.action_result.result.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.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))
      length = len(self.action_result.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasps:
        _x = val1.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))
        _v288 = val1.pre_grasp_posture
        _v289 = _v288.header
        buff.write(_struct_I.pack(_v289.seq))
        _v290 = _v289.stamp
        _x = _v290
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v289.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(_v288.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v288.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(_v288.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v288.position.tostring())
        length = len(_v288.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v288.velocity.tostring())
        length = len(_v288.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v288.effort.tostring())
        _v291 = val1.grasp_posture
        _v292 = _v291.header
        buff.write(_struct_I.pack(_v292.seq))
        _v293 = _v292.stamp
        _x = _v293
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v292.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(_v291.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v291.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(_v291.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v291.position.tostring())
        length = len(_v291.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v291.velocity.tostring())
        length = len(_v291.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v291.effort.tostring())
        _v294 = val1.grasp_pose
        _v295 = _v294.header
        buff.write(_struct_I.pack(_v295.seq))
        _v296 = _v295.stamp
        _x = _v296
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v295.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))
        _v297 = _v294.pose
        _v298 = _v297.position
        _x = _v298
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v299 = _v297.orientation
        _x = _v299
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v300 = val1.approach
        _v301 = _v300.direction
        _v302 = _v301.header
        buff.write(_struct_I.pack(_v302.seq))
        _v303 = _v302.stamp
        _x = _v303
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v302.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))
        _v304 = _v301.vector
        _x = _v304
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v300
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v305 = val1.retreat
        _v306 = _v305.direction
        _v307 = _v306.header
        buff.write(_struct_I.pack(_v307.seq))
        _v308 = _v307.stamp
        _x = _v308
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v307.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))
        _v309 = _v306.vector
        _x = _v309
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v305
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      length = len(self.action_result.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
      _x = self
      buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      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.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      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_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      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.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps))
    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.action_goal is None:
        self.action_goal = object_manipulation_msgs.msg.PickupActionGoal()
      if self.action_result is None:
        self.action_result = object_manipulation_msgs.msg.PickupActionResult()
      if self.action_feedback is None:
        self.action_feedback = object_manipulation_msgs.msg.PickupActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v310 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v310.key = str[start:end].decode('utf-8')
        else:
          _v310.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v310.db = str[start:end].decode('utf-8')
        else:
          _v310.db = str[start:end]
        _v311 = val1.pose
        _v312 = _v311.header
        start = end
        end += 4
        (_v312.seq,) = _struct_I.unpack(str[start:end])
        _v313 = _v312.stamp
        _x = _v313
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v312.frame_id = str[start:end].decode('utf-8')
        else:
          _v312.frame_id = str[start:end]
        _v314 = _v311.pose
        _v315 = _v314.position
        _x = _v315
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v316 = _v314.orientation
        _x = _v316
        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.action_goal.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.cluster.header.seq, _x.action_goal.goal.target.cluster.header.stamp.secs, _x.action_goal.goal.target.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.action_goal.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cloud.header.seq, _x.action_goal.goal.target.region.cloud.header.stamp.secs, _x.action_goal.goal.target.region.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cloud.height, _x.action_goal.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.action_goal.goal.target.region.cloud.is_bigendian, _x.action_goal.goal.target.region.cloud.point_step, _x.action_goal.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_bigendian = bool(self.action_goal.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.action_goal.goal.target.region.cloud.is_dense = bool(self.action_goal.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.image.header.seq, _x.action_goal.goal.target.region.image.header.stamp.secs, _x.action_goal.goal.target.region.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.image.height, _x.action_goal.goal.target.region.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.image.is_bigendian, _x.action_goal.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.disparity_image.header.seq, _x.action_goal.goal.target.region.disparity_image.header.stamp.secs, _x.action_goal.goal.target.region.disparity_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.disparity_image.height, _x.action_goal.goal.target.region.disparity_image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.target.region.disparity_image.is_bigendian, _x.action_goal.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.target.region.cam_info.header.seq, _x.action_goal.goal.target.region.cam_info.header.stamp.secs, _x.action_goal.goal.target.region.cam_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal.target.region.cam_info.height, _x.action_goal.goal.target.region.cam_info.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_goal.goal.target.region.cam_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 72
      self.action_goal.goal.target.region.cam_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 96
      self.action_goal.goal.target.region.cam_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
      _x = self
      start = end
      end += 37
      (_x.action_goal.goal.target.region.cam_info.binning_x, _x.action_goal.goal.target.region.cam_info.binning_y, _x.action_goal.goal.target.region.cam_info.roi.x_offset, _x.action_goal.goal.target.region.cam_info.roi.y_offset, _x.action_goal.goal.target.region.cam_info.roi.height, _x.action_goal.goal.target.region.cam_info.roi.width, _x.action_goal.goal.target.region.cam_info.roi.do_rectify, _x.action_goal.goal.target.region.roi_box_pose.header.seq, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.secs, _x.action_goal.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.action_goal.goal.target.region.cam_info.roi.do_rectify = bool(self.action_goal.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.action_goal.goal.target.region.roi_box_pose.pose.position.x, _x.action_goal.goal.target.region.roi_box_pose.pose.position.y, _x.action_goal.goal.target.region.roi_box_pose.pose.position.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.x, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.y, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.z, _x.action_goal.goal.target.region.roi_box_pose.pose.orientation.w, _x.action_goal.goal.target.region.roi_box_dims.x, _x.action_goal.goal.target.region.roi_box_dims.y, _x.action_goal.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.desired_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v317 = val1.pre_grasp_posture
        _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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v317.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]
          _v317.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v317.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)
        _v317.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)
        _v317.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v320 = val1.grasp_posture
        _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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.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]
          _v320.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v320.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)
        _v320.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)
        _v320.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v323 = val1.grasp_pose
        _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]
        _v326 = _v323.pose
        _v327 = _v326.position
        _x = _v327
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v328 = _v326.orientation
        _x = _v328
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v329 = val1.approach
        _v330 = _v329.direction
        _v331 = _v330.header
        start = end
        end += 4
        (_v331.seq,) = _struct_I.unpack(str[start:end])
        _v332 = _v331.stamp
        _x = _v332
        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:
          _v331.frame_id = str[start:end].decode('utf-8')
        else:
          _v331.frame_id = str[start:end]
        _v333 = _v330.vector
        _x = _v333
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v329
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v334 = val1.retreat
        _v335 = _v334.direction
        _v336 = _v335.header
        start = end
        end += 4
        (_v336.seq,) = _struct_I.unpack(str[start:end])
        _v337 = _v336.stamp
        _x = _v337
        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:
          _v336.frame_id = str[start:end].decode('utf-8')
        else:
          _v336.frame_id = str[start:end]
        _v338 = _v335.vector
        _x = _v338
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v334
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.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:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_goal.goal.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.lift.direction.header.seq, _x.action_goal.goal.lift.direction.header.stamp.secs, _x.action_goal.goal.lift.direction.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_goal.goal.lift.direction.vector.x, _x.action_goal.goal.lift.direction.vector.y, _x.action_goal.goal.lift.direction.vector.z, _x.action_goal.goal.lift.desired_distance, _x.action_goal.goal.lift.min_distance,) = _struct_3d2f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.action_goal.goal.allow_gripper_support_collision, _x.action_goal.goal.use_reactive_execution, _x.action_goal.goal.use_reactive_lift, _x.action_goal.goal.only_perform_feasibility_test, _x.action_goal.goal.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      self.action_goal.goal.use_reactive_execution = bool(self.action_goal.goal.use_reactive_execution)
      self.action_goal.goal.use_reactive_lift = bool(self.action_goal.goal.use_reactive_lift)
      self.action_goal.goal.only_perform_feasibility_test = bool(self.action_goal.goal.only_perform_feasibility_test)
      self.action_goal.goal.ignore_collisions = bool(self.action_goal.goal.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v339 = val1.header
        start = end
        end += 4
        (_v339.seq,) = _struct_I.unpack(str[start:end])
        _v340 = _v339.stamp
        _x = _v340
        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:
          _v339.frame_id = str[start:end].decode('utf-8')
        else:
          _v339.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]
        _v341 = val1.target_point_offset
        _x = _v341
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v342 = val1.position
        _x = _v342
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v343 = val1.constraint_region_shape
        start = end
        end += 1
        (_v343.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)
        _v343.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)
        _v343.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v343.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])
          _v343.vertices.append(val3)
        _v344 = val1.constraint_region_orientation
        _x = _v344
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v345 = val1.header
        start = end
        end += 4
        (_v345.seq,) = _struct_I.unpack(str[start:end])
        _v346 = _v345.stamp
        _x = _v346
        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:
          _v345.frame_id = str[start:end].decode('utf-8')
        else:
          _v345.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])
        _v347 = val1.orientation
        _x = _v347
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v348 = val1.header
        start = end
        end += 4
        (_v348.seq,) = _struct_I.unpack(str[start:end])
        _v349 = _v348.stamp
        _x = _v349
        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:
          _v348.frame_id = str[start:end].decode('utf-8')
        else:
          _v348.frame_id = str[start:end]
        _v350 = val1.target
        _v351 = _v350.header
        start = end
        end += 4
        (_v351.seq,) = _struct_I.unpack(str[start:end])
        _v352 = _v351.stamp
        _x = _v352
        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:
          _v351.frame_id = str[start:end].decode('utf-8')
        else:
          _v351.frame_id = str[start:end]
        _v353 = _v350.point
        _x = _v353
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v354 = val1.sensor_pose
        _v355 = _v354.header
        start = end
        end += 4
        (_v355.seq,) = _struct_I.unpack(str[start:end])
        _v356 = _v355.stamp
        _x = _v356
        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:
          _v355.frame_id = str[start:end].decode('utf-8')
        else:
          _v355.frame_id = str[start:end]
        _v357 = _v354.pose
        _v358 = _v357.position
        _x = _v358
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v359 = _v357.orientation
        _x = _v359
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        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.action_goal.goal.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = 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])
          _v360 = val2.type
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v360.key = str[start:end].decode('utf-8')
          else:
            _v360.key = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v360.db = str[start:end].decode('utf-8')
          else:
            _v360.db = str[start:end]
          _v361 = val2.pose
          _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]
          _v364 = _v361.pose
          _v365 = _v364.position
          _x = _v365
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v366 = _v364.orientation
          _x = _v366
          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)
        _v367 = val1.cluster
        _v368 = _v367.header
        start = end
        end += 4
        (_v368.seq,) = _struct_I.unpack(str[start:end])
        _v369 = _v368.stamp
        _x = _v369
        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:
          _v368.frame_id = str[start:end].decode('utf-8')
        else:
          _v368.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v367.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])
          _v367.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v367.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)
          _v367.channels.append(val3)
        _v370 = val1.region
        _v371 = _v370.cloud
        _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])
        _v371.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])
          _v371.fields.append(val4)
        _x = _v371
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v371.is_bigendian = bool(_v371.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v371.data = str[start:end]
        start = end
        end += 1
        (_v371.is_dense,) = _struct_B.unpack(str[start:end])
        _v371.is_dense = bool(_v371.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v370.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v374 = _v370.image
        _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.encoding = str[start:end].decode('utf-8')
        else:
          _v374.encoding = str[start:end]
        _x = _v374
        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
        _v374.data = str[start:end]
        _v377 = _v370.disparity_image
        _v378 = _v377.header
        start = end
        end += 4
        (_v378.seq,) = _struct_I.unpack(str[start:end])
        _v379 = _v378.stamp
        _x = _v379
        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:
          _v378.frame_id = str[start:end].decode('utf-8')
        else:
          _v378.frame_id = str[start:end]
        _x = _v377
        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:
          _v377.encoding = str[start:end].decode('utf-8')
        else:
          _v377.encoding = str[start:end]
        _x = _v377
        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
        _v377.data = str[start:end]
        _v380 = _v370.cam_info
        _v381 = _v380.header
        start = end
        end += 4
        (_v381.seq,) = _struct_I.unpack(str[start:end])
        _v382 = _v381.stamp
        _x = _v382
        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:
          _v381.frame_id = str[start:end].decode('utf-8')
        else:
          _v381.frame_id = str[start:end]
        _x = _v380
        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:
          _v380.distortion_model = str[start:end].decode('utf-8')
        else:
          _v380.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)
        _v380.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v380.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v380.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v380.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v380
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v383 = _v380.roi
        _x = _v383
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v383.do_rectify = bool(_v383.do_rectify)
        _v384 = _v370.roi_box_pose
        _v385 = _v384.header
        start = end
        end += 4
        (_v385.seq,) = _struct_I.unpack(str[start:end])
        _v386 = _v385.stamp
        _x = _v386
        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:
          _v385.frame_id = str[start:end].decode('utf-8')
        else:
          _v385.frame_id = str[start:end]
        _v387 = _v384.pose
        _v388 = _v387.position
        _x = _v388
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v389 = _v387.orientation
        _x = _v389
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v390 = _v370.roi_box_dims
        _x = _v390
        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.action_goal.goal.movable_obstacles.append(val1)
      _x = self
      start = end
      end += 16
      (_x.action_goal.goal.max_contact_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8')
      else:
        self.action_result.status.text = str[start:end]
      start = end
      end += 4
      (self.action_result.result.manipulation_result.value,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.pre_grasp_posture.header.seq, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.secs, _x.action_result.result.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.action_result.result.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_posture.header.seq, _x.action_result.result.grasp.grasp_posture.header.stamp.secs, _x.action_result.result.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.action_result.result.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.action_result.result.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.grasp.grasp_pose.header.seq, _x.action_result.result.grasp.grasp_pose.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.action_result.result.grasp.grasp_pose.pose.position.x, _x.action_result.result.grasp.grasp_pose.pose.position.y, _x.action_result.result.grasp.grasp_pose.pose.position.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.x, _x.action_result.result.grasp.grasp_pose.pose.orientation.y, _x.action_result.result.grasp.grasp_pose.pose.orientation.z, _x.action_result.result.grasp.grasp_pose.pose.orientation.w, _x.action_result.result.grasp.grasp_quality, _x.action_result.result.grasp.approach.direction.header.seq, _x.action_result.result.grasp.approach.direction.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_result.result.grasp.approach.direction.vector.x, _x.action_result.result.grasp.approach.direction.vector.y, _x.action_result.result.grasp.approach.direction.vector.z, _x.action_result.result.grasp.approach.desired_distance, _x.action_result.result.grasp.approach.min_distance, _x.action_result.result.grasp.retreat.direction.header.seq, _x.action_result.result.grasp.retreat.direction.header.stamp.secs, _x.action_result.result.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.action_result.result.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.result.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.action_result.result.grasp.retreat.direction.vector.x, _x.action_result.result.grasp.retreat.direction.vector.y, _x.action_result.result.grasp.retreat.direction.vector.z, _x.action_result.result.grasp.retreat.desired_distance, _x.action_result.result.grasp.retreat.min_distance, _x.action_result.result.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.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.action_result.result.grasp.allowed_touch_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v391 = val1.pre_grasp_posture
        _v392 = _v391.header
        start = end
        end += 4
        (_v392.seq,) = _struct_I.unpack(str[start:end])
        _v393 = _v392.stamp
        _x = _v393
        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:
          _v392.frame_id = str[start:end].decode('utf-8')
        else:
          _v392.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v391.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]
          _v391.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v391.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)
        _v391.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)
        _v391.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v394 = val1.grasp_posture
        _v395 = _v394.header
        start = end
        end += 4
        (_v395.seq,) = _struct_I.unpack(str[start:end])
        _v396 = _v395.stamp
        _x = _v396
        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:
          _v395.frame_id = str[start:end].decode('utf-8')
        else:
          _v395.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v394.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]
          _v394.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v394.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)
        _v394.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)
        _v394.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v397 = val1.grasp_pose
        _v398 = _v397.header
        start = end
        end += 4
        (_v398.seq,) = _struct_I.unpack(str[start:end])
        _v399 = _v398.stamp
        _x = _v399
        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:
          _v398.frame_id = str[start:end].decode('utf-8')
        else:
          _v398.frame_id = str[start:end]
        _v400 = _v397.pose
        _v401 = _v400.position
        _x = _v401
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v402 = _v400.orientation
        _x = _v402
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v403 = val1.approach
        _v404 = _v403.direction
        _v405 = _v404.header
        start = end
        end += 4
        (_v405.seq,) = _struct_I.unpack(str[start:end])
        _v406 = _v405.stamp
        _x = _v406
        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:
          _v405.frame_id = str[start:end].decode('utf-8')
        else:
          _v405.frame_id = str[start:end]
        _v407 = _v404.vector
        _x = _v407
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v403
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v408 = val1.retreat
        _v409 = _v408.direction
        _v410 = _v409.header
        start = end
        end += 4
        (_v410.seq,) = _struct_I.unpack(str[start:end])
        _v411 = _v410.stamp
        _x = _v411
        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:
          _v410.frame_id = str[start:end].decode('utf-8')
        else:
          _v410.frame_id = str[start:end]
        _v412 = _v409.vector
        _x = _v412
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v408
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.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:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_result.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.attempted_grasp_results = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.action_result.result.attempted_grasp_results.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.text = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.feedback.current_grasp, _x.action_feedback.feedback.total_grasps,) = _struct_2i.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_12d = struct.Struct("<12d")
_struct_8d3I = struct.Struct("<8d3I")
_struct_f3I = struct.Struct("<f3I")
_struct_BI = struct.Struct("<BI")
_struct_10d = struct.Struct("<10d")
_struct_3I = struct.Struct("<3I")
_struct_B2I = struct.Struct("<B2I")
_struct_3d2f3I = struct.Struct("<3d2f3I")
_struct_5B = struct.Struct("<5B")
_struct_3d3f = struct.Struct("<3d3f")
_struct_iB = struct.Struct("<iB")
_struct_3f = struct.Struct("<3f")
_struct_3d = struct.Struct("<3d")
_struct_B = struct.Struct("<B")
_struct_di = struct.Struct("<di")
_struct_9d = struct.Struct("<9d")
_struct_2I = struct.Struct("<2I")
_struct_6IB3I = struct.Struct("<6IB3I")
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_i = struct.Struct("<i")
_struct_3d2f = struct.Struct("<3d2f")
_struct_2f = struct.Struct("<2f")
_struct_4d = struct.Struct("<4d")
_struct_2i = struct.Struct("<2i")
_struct_4IB = struct.Struct("<4IB")