_PickupGoal.py

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

class PickupGoal(genpy.Message):
  _md5sum = "e313760a5c0d89b0b4920e814ef4f3a0"
  _type = "object_manipulation_msgs/PickupGoal"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for 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: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/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

"""
  __slots__ = ['arm_name','target','desired_grasps','lift','collision_object_name','collision_support_surface_name','allow_gripper_support_collision','use_reactive_execution','use_reactive_lift','only_perform_feasibility_test','ignore_collisions','path_constraints','additional_collision_operations','additional_link_padding','movable_obstacles','max_contact_force']
  _slot_types = ['string','manipulation_msgs/GraspableObject','manipulation_msgs/Grasp[]','object_manipulation_msgs/GripperTranslation','string','string','bool','bool','bool','bool','bool','arm_navigation_msgs/Constraints','arm_navigation_msgs/OrderedCollisionOperations','arm_navigation_msgs/LinkPadding[]','manipulation_msgs/GraspableObject[]','float32']

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

    The available fields are:
       arm_name,target,desired_grasps,lift,collision_object_name,collision_support_surface_name,allow_gripper_support_collision,use_reactive_execution,use_reactive_lift,only_perform_feasibility_test,ignore_collisions,path_constraints,additional_collision_operations,additional_link_padding,movable_obstacles,max_contact_force

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PickupGoal, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.arm_name is None:
        self.arm_name = ''
      if self.target is None:
        self.target = manipulation_msgs.msg.GraspableObject()
      if self.desired_grasps is None:
        self.desired_grasps = []
      if self.lift is None:
        self.lift = object_manipulation_msgs.msg.GripperTranslation()
      if self.collision_object_name is None:
        self.collision_object_name = ''
      if self.collision_support_surface_name is None:
        self.collision_support_surface_name = ''
      if self.allow_gripper_support_collision is None:
        self.allow_gripper_support_collision = False
      if self.use_reactive_execution is None:
        self.use_reactive_execution = False
      if self.use_reactive_lift is None:
        self.use_reactive_lift = False
      if self.only_perform_feasibility_test is None:
        self.only_perform_feasibility_test = False
      if self.ignore_collisions is None:
        self.ignore_collisions = False
      if self.path_constraints is None:
        self.path_constraints = arm_navigation_msgs.msg.Constraints()
      if self.additional_collision_operations is None:
        self.additional_collision_operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      if self.additional_link_padding is None:
        self.additional_link_padding = []
      if self.movable_obstacles is None:
        self.movable_obstacles = []
      if self.max_contact_force is None:
        self.max_contact_force = 0.
    else:
      self.arm_name = ''
      self.target = manipulation_msgs.msg.GraspableObject()
      self.desired_grasps = []
      self.lift = object_manipulation_msgs.msg.GripperTranslation()
      self.collision_object_name = ''
      self.collision_support_surface_name = ''
      self.allow_gripper_support_collision = False
      self.use_reactive_execution = False
      self.use_reactive_lift = False
      self.only_perform_feasibility_test = False
      self.ignore_collisions = False
      self.path_constraints = arm_navigation_msgs.msg.Constraints()
      self.additional_collision_operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      self.additional_link_padding = []
      self.movable_obstacles = []
      self.max_contact_force = 0.

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self.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.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.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.target.cluster.header.seq, _x.target.cluster.header.stamp.secs, _x.target.cluster.header.stamp.nsecs))
      _x = self.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.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.target.region.cloud.header.seq, _x.target.region.cloud.header.stamp.secs, _x.target.region.cloud.header.stamp.nsecs))
      _x = self.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.target.region.cloud.height, _x.target.region.cloud.width))
      length = len(self.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.target.region.cloud.is_bigendian, _x.target.region.cloud.point_step, _x.target.region.cloud.row_step))
      _x = self.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.target.region.cloud.is_dense))
      length = len(self.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.target.region.mask))
      _x = self
      buff.write(_struct_3I.pack(_x.target.region.image.header.seq, _x.target.region.image.header.stamp.secs, _x.target.region.image.header.stamp.nsecs))
      _x = self.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.target.region.image.height, _x.target.region.image.width))
      _x = self.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.target.region.image.is_bigendian, _x.target.region.image.step))
      _x = self.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.target.region.disparity_image.header.seq, _x.target.region.disparity_image.header.stamp.secs, _x.target.region.disparity_image.header.stamp.nsecs))
      _x = self.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.target.region.disparity_image.height, _x.target.region.disparity_image.width))
      _x = self.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.target.region.disparity_image.is_bigendian, _x.target.region.disparity_image.step))
      _x = self.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.target.region.cam_info.header.seq, _x.target.region.cam_info.header.stamp.secs, _x.target.region.cam_info.header.stamp.nsecs))
      _x = self.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.target.region.cam_info.height, _x.target.region.cam_info.width))
      _x = self.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.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.target.region.cam_info.D))
      buff.write(_struct_9d.pack(*self.target.region.cam_info.K))
      buff.write(_struct_9d.pack(*self.target.region.cam_info.R))
      buff.write(_struct_12d.pack(*self.target.region.cam_info.P))
      _x = self
      buff.write(_struct_6IB3I.pack(_x.target.region.cam_info.binning_x, _x.target.region.cam_info.binning_y, _x.target.region.cam_info.roi.x_offset, _x.target.region.cam_info.roi.y_offset, _x.target.region.cam_info.roi.height, _x.target.region.cam_info.roi.width, _x.target.region.cam_info.roi.do_rectify, _x.target.region.roi_box_pose.header.seq, _x.target.region.roi_box_pose.header.stamp.secs, _x.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.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.target.region.roi_box_pose.pose.position.x, _x.target.region.roi_box_pose.pose.position.y, _x.target.region.roi_box_pose.pose.position.z, _x.target.region.roi_box_pose.pose.orientation.x, _x.target.region.roi_box_pose.pose.orientation.y, _x.target.region.roi_box_pose.pose.orientation.z, _x.target.region.roi_box_pose.pose.orientation.w, _x.target.region.roi_box_dims.x, _x.target.region.roi_box_dims.y, _x.target.region.roi_box_dims.z))
      _x = self.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.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.lift.direction.header.seq, _x.lift.direction.header.stamp.secs, _x.lift.direction.header.stamp.nsecs))
      _x = self.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.lift.direction.vector.x, _x.lift.direction.vector.y, _x.lift.direction.vector.z, _x.lift.desired_distance, _x.lift.min_distance))
      _x = self.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.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.allow_gripper_support_collision, _x.use_reactive_execution, _x.use_reactive_lift, _x.only_perform_feasibility_test, _x.ignore_collisions))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.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))
      buff.write(_struct_f.pack(self.max_contact_force))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.target is None:
        self.target = manipulation_msgs.msg.GraspableObject()
      if self.desired_grasps is None:
        self.desired_grasps = None
      if self.lift is None:
        self.lift = object_manipulation_msgs.msg.GripperTranslation()
      if self.path_constraints is None:
        self.path_constraints = arm_navigation_msgs.msg.Constraints()
      if self.additional_collision_operations is None:
        self.additional_collision_operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      if self.additional_link_padding is None:
        self.additional_link_padding = None
      if self.movable_obstacles is None:
        self.movable_obstacles = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.arm_name = str[start:end].decode('utf-8')
      else:
        self.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
        _v82 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v82.key = str[start:end].decode('utf-8')
        else:
          _v82.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v82.db = str[start:end].decode('utf-8')
        else:
          _v82.db = str[start:end]
        _v83 = val1.pose
        _v84 = _v83.header
        start = end
        end += 4
        (_v84.seq,) = _struct_I.unpack(str[start:end])
        _v85 = _v84.stamp
        _x = _v85
        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:
          _v84.frame_id = str[start:end].decode('utf-8')
        else:
          _v84.frame_id = str[start:end]
        _v86 = _v83.pose
        _v87 = _v86.position
        _x = _v87
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v88 = _v86.orientation
        _x = _v88
        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.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.target.cluster.header.seq, _x.target.cluster.header.stamp.secs, _x.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.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.target.region.cloud.header.seq, _x.target.region.cloud.header.stamp.secs, _x.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.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.cloud.height, _x.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.target.region.cloud.is_bigendian, _x.target.region.cloud.point_step, _x.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.target.region.cloud.is_bigendian = bool(self.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.target.region.cloud.is_dense = bool(self.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.target.region.mask = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.target.region.image.header.seq, _x.target.region.image.header.stamp.secs, _x.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.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.image.height, _x.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.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.target.region.image.is_bigendian, _x.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.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.target.region.disparity_image.header.seq, _x.target.region.disparity_image.header.stamp.secs, _x.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.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.disparity_image.height, _x.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.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.target.region.disparity_image.is_bigendian, _x.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.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.target.region.cam_info.header.seq, _x.target.region.cam_info.header.stamp.secs, _x.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.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.cam_info.height, _x.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.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.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.target.region.cam_info.D = struct.unpack(pattern, str[start:end])
      start = end
      end += 72
      self.target.region.cam_info.K = _struct_9d.unpack(str[start:end])
      start = end
      end += 72
      self.target.region.cam_info.R = _struct_9d.unpack(str[start:end])
      start = end
      end += 96
      self.target.region.cam_info.P = _struct_12d.unpack(str[start:end])
      _x = self
      start = end
      end += 37
      (_x.target.region.cam_info.binning_x, _x.target.region.cam_info.binning_y, _x.target.region.cam_info.roi.x_offset, _x.target.region.cam_info.roi.y_offset, _x.target.region.cam_info.roi.height, _x.target.region.cam_info.roi.width, _x.target.region.cam_info.roi.do_rectify, _x.target.region.roi_box_pose.header.seq, _x.target.region.roi_box_pose.header.stamp.secs, _x.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.target.region.cam_info.roi.do_rectify = bool(self.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.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.target.region.roi_box_pose.pose.position.x, _x.target.region.roi_box_pose.pose.position.y, _x.target.region.roi_box_pose.pose.position.z, _x.target.region.roi_box_pose.pose.orientation.x, _x.target.region.roi_box_pose.pose.orientation.y, _x.target.region.roi_box_pose.pose.orientation.z, _x.target.region.roi_box_pose.pose.orientation.w, _x.target.region.roi_box_dims.x, _x.target.region.roi_box_dims.y, _x.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.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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]
        _v89 = val1.pre_grasp_posture
        _v90 = _v89.header
        start = end
        end += 4
        (_v90.seq,) = _struct_I.unpack(str[start:end])
        _v91 = _v90.stamp
        _x = _v91
        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:
          _v90.frame_id = str[start:end].decode('utf-8')
        else:
          _v90.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v89.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]
          _v89.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v89.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)
        _v89.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)
        _v89.effort = struct.unpack(pattern, str[start:end])
        _v92 = val1.grasp_posture
        _v93 = _v92.header
        start = end
        end += 4
        (_v93.seq,) = _struct_I.unpack(str[start:end])
        _v94 = _v93.stamp
        _x = _v94
        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:
          _v93.frame_id = str[start:end].decode('utf-8')
        else:
          _v93.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v92.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]
          _v92.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v92.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)
        _v92.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)
        _v92.effort = struct.unpack(pattern, str[start:end])
        _v95 = val1.grasp_pose
        _v96 = _v95.header
        start = end
        end += 4
        (_v96.seq,) = _struct_I.unpack(str[start:end])
        _v97 = _v96.stamp
        _x = _v97
        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:
          _v96.frame_id = str[start:end].decode('utf-8')
        else:
          _v96.frame_id = str[start:end]
        _v98 = _v95.pose
        _v99 = _v98.position
        _x = _v99
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v100 = _v98.orientation
        _x = _v100
        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])
        _v101 = val1.approach
        _v102 = _v101.direction
        _v103 = _v102.header
        start = end
        end += 4
        (_v103.seq,) = _struct_I.unpack(str[start:end])
        _v104 = _v103.stamp
        _x = _v104
        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:
          _v103.frame_id = str[start:end].decode('utf-8')
        else:
          _v103.frame_id = str[start:end]
        _v105 = _v102.vector
        _x = _v105
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v101
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v106 = val1.retreat
        _v107 = _v106.direction
        _v108 = _v107.header
        start = end
        end += 4
        (_v108.seq,) = _struct_I.unpack(str[start:end])
        _v109 = _v108.stamp
        _x = _v109
        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:
          _v108.frame_id = str[start:end].decode('utf-8')
        else:
          _v108.frame_id = str[start:end]
        _v110 = _v107.vector
        _x = _v110
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v106
        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.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.lift.direction.header.seq, _x.lift.direction.header.stamp.secs, _x.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.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.lift.direction.vector.x, _x.lift.direction.vector.y, _x.lift.direction.vector.z, _x.lift.desired_distance, _x.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.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.allow_gripper_support_collision, _x.use_reactive_execution, _x.use_reactive_lift, _x.only_perform_feasibility_test, _x.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      self.use_reactive_execution = bool(self.use_reactive_execution)
      self.use_reactive_lift = bool(self.use_reactive_lift)
      self.only_perform_feasibility_test = bool(self.only_perform_feasibility_test)
      self.ignore_collisions = bool(self.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v111 = val1.header
        start = end
        end += 4
        (_v111.seq,) = _struct_I.unpack(str[start:end])
        _v112 = _v111.stamp
        _x = _v112
        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:
          _v111.frame_id = str[start:end].decode('utf-8')
        else:
          _v111.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]
        _v113 = val1.target_point_offset
        _x = _v113
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v114 = val1.position
        _x = _v114
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v115 = val1.constraint_region_shape
        start = end
        end += 1
        (_v115.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)
        _v115.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)
        _v115.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v115.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])
          _v115.vertices.append(val3)
        _v116 = val1.constraint_region_orientation
        _x = _v116
        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.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v117 = val1.header
        start = end
        end += 4
        (_v117.seq,) = _struct_I.unpack(str[start:end])
        _v118 = _v117.stamp
        _x = _v118
        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:
          _v117.frame_id = str[start:end].decode('utf-8')
        else:
          _v117.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])
        _v119 = val1.orientation
        _x = _v119
        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.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v120 = val1.header
        start = end
        end += 4
        (_v120.seq,) = _struct_I.unpack(str[start:end])
        _v121 = _v120.stamp
        _x = _v121
        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:
          _v120.frame_id = str[start:end].decode('utf-8')
        else:
          _v120.frame_id = str[start:end]
        _v122 = val1.target
        _v123 = _v122.header
        start = end
        end += 4
        (_v123.seq,) = _struct_I.unpack(str[start:end])
        _v124 = _v123.stamp
        _x = _v124
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v123.frame_id = str[start:end].decode('utf-8')
        else:
          _v123.frame_id = str[start:end]
        _v125 = _v122.point
        _x = _v125
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v126 = val1.sensor_pose
        _v127 = _v126.header
        start = end
        end += 4
        (_v127.seq,) = _struct_I.unpack(str[start:end])
        _v128 = _v127.stamp
        _x = _v128
        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:
          _v127.frame_id = str[start:end].decode('utf-8')
        else:
          _v127.frame_id = str[start:end]
        _v129 = _v126.pose
        _v130 = _v129.position
        _x = _v130
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v131 = _v129.orientation
        _x = _v131
        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.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
          _v132 = val2.type
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v132.key = str[start:end].decode('utf-8')
          else:
            _v132.key = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v132.db = str[start:end].decode('utf-8')
          else:
            _v132.db = str[start:end]
          _v133 = val2.pose
          _v134 = _v133.header
          start = end
          end += 4
          (_v134.seq,) = _struct_I.unpack(str[start:end])
          _v135 = _v134.stamp
          _x = _v135
          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:
            _v134.frame_id = str[start:end].decode('utf-8')
          else:
            _v134.frame_id = str[start:end]
          _v136 = _v133.pose
          _v137 = _v136.position
          _x = _v137
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v138 = _v136.orientation
          _x = _v138
          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)
        _v139 = val1.cluster
        _v140 = _v139.header
        start = end
        end += 4
        (_v140.seq,) = _struct_I.unpack(str[start:end])
        _v141 = _v140.stamp
        _x = _v141
        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:
          _v140.frame_id = str[start:end].decode('utf-8')
        else:
          _v140.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v139.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])
          _v139.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v139.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])
          _v139.channels.append(val3)
        _v142 = val1.region
        _v143 = _v142.cloud
        _v144 = _v143.header
        start = end
        end += 4
        (_v144.seq,) = _struct_I.unpack(str[start:end])
        _v145 = _v144.stamp
        _x = _v145
        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:
          _v144.frame_id = str[start:end].decode('utf-8')
        else:
          _v144.frame_id = str[start:end]
        _x = _v143
        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])
        _v143.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])
          _v143.fields.append(val4)
        _x = _v143
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v143.is_bigendian = bool(_v143.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v143.data = str[start:end]
        start = end
        end += 1
        (_v143.is_dense,) = _struct_B.unpack(str[start:end])
        _v143.is_dense = bool(_v143.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v142.mask = struct.unpack(pattern, str[start:end])
        _v146 = _v142.image
        _v147 = _v146.header
        start = end
        end += 4
        (_v147.seq,) = _struct_I.unpack(str[start:end])
        _v148 = _v147.stamp
        _x = _v148
        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:
          _v147.frame_id = str[start:end].decode('utf-8')
        else:
          _v147.frame_id = str[start:end]
        _x = _v146
        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:
          _v146.encoding = str[start:end].decode('utf-8')
        else:
          _v146.encoding = str[start:end]
        _x = _v146
        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
        _v146.data = str[start:end]
        _v149 = _v142.disparity_image
        _v150 = _v149.header
        start = end
        end += 4
        (_v150.seq,) = _struct_I.unpack(str[start:end])
        _v151 = _v150.stamp
        _x = _v151
        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:
          _v150.frame_id = str[start:end].decode('utf-8')
        else:
          _v150.frame_id = str[start:end]
        _x = _v149
        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:
          _v149.encoding = str[start:end].decode('utf-8')
        else:
          _v149.encoding = str[start:end]
        _x = _v149
        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
        _v149.data = str[start:end]
        _v152 = _v142.cam_info
        _v153 = _v152.header
        start = end
        end += 4
        (_v153.seq,) = _struct_I.unpack(str[start:end])
        _v154 = _v153.stamp
        _x = _v154
        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:
          _v153.frame_id = str[start:end].decode('utf-8')
        else:
          _v153.frame_id = str[start:end]
        _x = _v152
        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:
          _v152.distortion_model = str[start:end].decode('utf-8')
        else:
          _v152.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)
        _v152.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v152.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v152.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v152.P = _struct_12d.unpack(str[start:end])
        _x = _v152
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v155 = _v152.roi
        _x = _v155
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v155.do_rectify = bool(_v155.do_rectify)
        _v156 = _v142.roi_box_pose
        _v157 = _v156.header
        start = end
        end += 4
        (_v157.seq,) = _struct_I.unpack(str[start:end])
        _v158 = _v157.stamp
        _x = _v158
        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:
          _v157.frame_id = str[start:end].decode('utf-8')
        else:
          _v157.frame_id = str[start:end]
        _v159 = _v156.pose
        _v160 = _v159.position
        _x = _v160
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v161 = _v159.orientation
        _x = _v161
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v162 = _v142.roi_box_dims
        _x = _v162
        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.movable_obstacles.append(val1)
      start = end
      end += 4
      (self.max_contact_force,) = _struct_f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self.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.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.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v163 = val1.type
        _x = _v163.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 = _v163.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))
        _v164 = val1.pose
        _v165 = _v164.header
        buff.write(_struct_I.pack(_v165.seq))
        _v166 = _v165.stamp
        _x = _v166
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v165.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))
        _v167 = _v164.pose
        _v168 = _v167.position
        _x = _v168
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v169 = _v167.orientation
        _x = _v169
        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.target.cluster.header.seq, _x.target.cluster.header.stamp.secs, _x.target.cluster.header.stamp.nsecs))
      _x = self.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.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.target.region.cloud.header.seq, _x.target.region.cloud.header.stamp.secs, _x.target.region.cloud.header.stamp.nsecs))
      _x = self.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.target.region.cloud.height, _x.target.region.cloud.width))
      length = len(self.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.target.region.cloud.is_bigendian, _x.target.region.cloud.point_step, _x.target.region.cloud.row_step))
      _x = self.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.target.region.cloud.is_dense))
      length = len(self.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.target.region.mask.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.target.region.image.header.seq, _x.target.region.image.header.stamp.secs, _x.target.region.image.header.stamp.nsecs))
      _x = self.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.target.region.image.height, _x.target.region.image.width))
      _x = self.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.target.region.image.is_bigendian, _x.target.region.image.step))
      _x = self.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.target.region.disparity_image.header.seq, _x.target.region.disparity_image.header.stamp.secs, _x.target.region.disparity_image.header.stamp.nsecs))
      _x = self.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.target.region.disparity_image.height, _x.target.region.disparity_image.width))
      _x = self.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.target.region.disparity_image.is_bigendian, _x.target.region.disparity_image.step))
      _x = self.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.target.region.cam_info.header.seq, _x.target.region.cam_info.header.stamp.secs, _x.target.region.cam_info.header.stamp.nsecs))
      _x = self.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.target.region.cam_info.height, _x.target.region.cam_info.width))
      _x = self.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.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.target.region.cam_info.D.tostring())
      buff.write(self.target.region.cam_info.K.tostring())
      buff.write(self.target.region.cam_info.R.tostring())
      buff.write(self.target.region.cam_info.P.tostring())
      _x = self
      buff.write(_struct_6IB3I.pack(_x.target.region.cam_info.binning_x, _x.target.region.cam_info.binning_y, _x.target.region.cam_info.roi.x_offset, _x.target.region.cam_info.roi.y_offset, _x.target.region.cam_info.roi.height, _x.target.region.cam_info.roi.width, _x.target.region.cam_info.roi.do_rectify, _x.target.region.roi_box_pose.header.seq, _x.target.region.roi_box_pose.header.stamp.secs, _x.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.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.target.region.roi_box_pose.pose.position.x, _x.target.region.roi_box_pose.pose.position.y, _x.target.region.roi_box_pose.pose.position.z, _x.target.region.roi_box_pose.pose.orientation.x, _x.target.region.roi_box_pose.pose.orientation.y, _x.target.region.roi_box_pose.pose.orientation.z, _x.target.region.roi_box_pose.pose.orientation.w, _x.target.region.roi_box_dims.x, _x.target.region.roi_box_dims.y, _x.target.region.roi_box_dims.z))
      _x = self.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.desired_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.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))
        _v170 = val1.pre_grasp_posture
        _v171 = _v170.header
        buff.write(_struct_I.pack(_v171.seq))
        _v172 = _v171.stamp
        _x = _v172
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v171.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(_v170.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v170.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(_v170.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v170.position.tostring())
        length = len(_v170.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v170.velocity.tostring())
        length = len(_v170.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v170.effort.tostring())
        _v173 = val1.grasp_posture
        _v174 = _v173.header
        buff.write(_struct_I.pack(_v174.seq))
        _v175 = _v174.stamp
        _x = _v175
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v174.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(_v173.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v173.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(_v173.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v173.position.tostring())
        length = len(_v173.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v173.velocity.tostring())
        length = len(_v173.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v173.effort.tostring())
        _v176 = val1.grasp_pose
        _v177 = _v176.header
        buff.write(_struct_I.pack(_v177.seq))
        _v178 = _v177.stamp
        _x = _v178
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v177.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))
        _v179 = _v176.pose
        _v180 = _v179.position
        _x = _v180
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v181 = _v179.orientation
        _x = _v181
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v182 = val1.approach
        _v183 = _v182.direction
        _v184 = _v183.header
        buff.write(_struct_I.pack(_v184.seq))
        _v185 = _v184.stamp
        _x = _v185
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v184.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))
        _v186 = _v183.vector
        _x = _v186
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v182
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v187 = val1.retreat
        _v188 = _v187.direction
        _v189 = _v188.header
        buff.write(_struct_I.pack(_v189.seq))
        _v190 = _v189.stamp
        _x = _v190
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v189.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))
        _v191 = _v188.vector
        _x = _v191
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v187
        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.lift.direction.header.seq, _x.lift.direction.header.stamp.secs, _x.lift.direction.header.stamp.nsecs))
      _x = self.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.lift.direction.vector.x, _x.lift.direction.vector.y, _x.lift.direction.vector.z, _x.lift.desired_distance, _x.lift.min_distance))
      _x = self.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.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.allow_gripper_support_collision, _x.use_reactive_execution, _x.use_reactive_lift, _x.only_perform_feasibility_test, _x.ignore_collisions))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.position_constraints:
        _v192 = val1.header
        buff.write(_struct_I.pack(_v192.seq))
        _v193 = _v192.stamp
        _x = _v193
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v192.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))
        _v194 = val1.target_point_offset
        _x = _v194
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v195 = val1.position
        _x = _v195
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v196 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v196.type))
        length = len(_v196.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v196.dimensions.tostring())
        length = len(_v196.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v196.triangles.tostring())
        length = len(_v196.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v196.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v197 = val1.constraint_region_orientation
        _x = _v197
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.orientation_constraints:
        _v198 = val1.header
        buff.write(_struct_I.pack(_v198.seq))
        _v199 = _v198.stamp
        _x = _v199
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v198.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))
        _v200 = val1.orientation
        _x = _v200
        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.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.visibility_constraints:
        _v201 = val1.header
        buff.write(_struct_I.pack(_v201.seq))
        _v202 = _v201.stamp
        _x = _v202
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v201.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))
        _v203 = val1.target
        _v204 = _v203.header
        buff.write(_struct_I.pack(_v204.seq))
        _v205 = _v204.stamp
        _x = _v205
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v204.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))
        _v206 = _v203.point
        _x = _v206
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v207 = val1.sensor_pose
        _v208 = _v207.header
        buff.write(_struct_I.pack(_v208.seq))
        _v209 = _v208.stamp
        _x = _v209
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v208.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))
        _v210 = _v207.pose
        _v211 = _v210.position
        _x = _v211
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v212 = _v210.orientation
        _x = _v212
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.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.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.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))
          _v213 = val2.type
          _x = _v213.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 = _v213.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))
          _v214 = val2.pose
          _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))
          _v217 = _v214.pose
          _v218 = _v217.position
          _x = _v218
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v219 = _v217.orientation
          _x = _v219
          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))
        _v220 = val1.cluster
        _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))
        length = len(_v220.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v220.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v220.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v220.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())
        _v223 = val1.region
        _v224 = _v223.cloud
        _v225 = _v224.header
        buff.write(_struct_I.pack(_v225.seq))
        _v226 = _v225.stamp
        _x = _v226
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v225.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v224
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v224.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v224.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 = _v224
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v224.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(_v224.is_dense))
        length = len(_v223.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v223.mask.tostring())
        _v227 = _v223.image
        _v228 = _v227.header
        buff.write(_struct_I.pack(_v228.seq))
        _v229 = _v228.stamp
        _x = _v229
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v228.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v227
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v227.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 = _v227
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v227.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))
        _v230 = _v223.disparity_image
        _v231 = _v230.header
        buff.write(_struct_I.pack(_v231.seq))
        _v232 = _v231.stamp
        _x = _v232
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v231.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 = _v230
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v230.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 = _v230
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v230.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))
        _v233 = _v223.cam_info
        _v234 = _v233.header
        buff.write(_struct_I.pack(_v234.seq))
        _v235 = _v234.stamp
        _x = _v235
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v234.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 = _v233
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v233.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(_v233.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v233.D.tostring())
        buff.write(_v233.K.tostring())
        buff.write(_v233.R.tostring())
        buff.write(_v233.P.tostring())
        _x = _v233
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v236 = _v233.roi
        _x = _v236
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v237 = _v223.roi_box_pose
        _v238 = _v237.header
        buff.write(_struct_I.pack(_v238.seq))
        _v239 = _v238.stamp
        _x = _v239
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v238.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v240 = _v237.pose
        _v241 = _v240.position
        _x = _v241
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v242 = _v240.orientation
        _x = _v242
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v243 = _v223.roi_box_dims
        _x = _v243
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_f.pack(self.max_contact_force))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.target is None:
        self.target = manipulation_msgs.msg.GraspableObject()
      if self.desired_grasps is None:
        self.desired_grasps = None
      if self.lift is None:
        self.lift = object_manipulation_msgs.msg.GripperTranslation()
      if self.path_constraints is None:
        self.path_constraints = arm_navigation_msgs.msg.Constraints()
      if self.additional_collision_operations is None:
        self.additional_collision_operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      if self.additional_link_padding is None:
        self.additional_link_padding = None
      if self.movable_obstacles is None:
        self.movable_obstacles = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.arm_name = str[start:end].decode('utf-8')
      else:
        self.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
        _v244 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v244.key = str[start:end].decode('utf-8')
        else:
          _v244.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v244.db = str[start:end].decode('utf-8')
        else:
          _v244.db = str[start:end]
        _v245 = val1.pose
        _v246 = _v245.header
        start = end
        end += 4
        (_v246.seq,) = _struct_I.unpack(str[start:end])
        _v247 = _v246.stamp
        _x = _v247
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v246.frame_id = str[start:end].decode('utf-8')
        else:
          _v246.frame_id = str[start:end]
        _v248 = _v245.pose
        _v249 = _v248.position
        _x = _v249
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v250 = _v248.orientation
        _x = _v250
        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.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.target.cluster.header.seq, _x.target.cluster.header.stamp.secs, _x.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.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.target.region.cloud.header.seq, _x.target.region.cloud.header.stamp.secs, _x.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.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.cloud.height, _x.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.target.region.cloud.is_bigendian, _x.target.region.cloud.point_step, _x.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.target.region.cloud.is_bigendian = bool(self.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.target.region.cloud.is_dense = bool(self.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.target.region.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 12
      (_x.target.region.image.header.seq, _x.target.region.image.header.stamp.secs, _x.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.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.image.height, _x.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.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.target.region.image.is_bigendian, _x.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.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.target.region.disparity_image.header.seq, _x.target.region.disparity_image.header.stamp.secs, _x.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.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.disparity_image.height, _x.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.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.target.region.disparity_image.is_bigendian, _x.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.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.target.region.cam_info.header.seq, _x.target.region.cam_info.header.stamp.secs, _x.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.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.target.region.cam_info.height, _x.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.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.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.target.region.cam_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 72
      self.target.region.cam_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 72
      self.target.region.cam_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 96
      self.target.region.cam_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
      _x = self
      start = end
      end += 37
      (_x.target.region.cam_info.binning_x, _x.target.region.cam_info.binning_y, _x.target.region.cam_info.roi.x_offset, _x.target.region.cam_info.roi.y_offset, _x.target.region.cam_info.roi.height, _x.target.region.cam_info.roi.width, _x.target.region.cam_info.roi.do_rectify, _x.target.region.roi_box_pose.header.seq, _x.target.region.roi_box_pose.header.stamp.secs, _x.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.target.region.cam_info.roi.do_rectify = bool(self.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.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.target.region.roi_box_pose.pose.position.x, _x.target.region.roi_box_pose.pose.position.y, _x.target.region.roi_box_pose.pose.position.z, _x.target.region.roi_box_pose.pose.orientation.x, _x.target.region.roi_box_pose.pose.orientation.y, _x.target.region.roi_box_pose.pose.orientation.z, _x.target.region.roi_box_pose.pose.orientation.w, _x.target.region.roi_box_dims.x, _x.target.region.roi_box_dims.y, _x.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.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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]
        _v251 = val1.pre_grasp_posture
        _v252 = _v251.header
        start = end
        end += 4
        (_v252.seq,) = _struct_I.unpack(str[start:end])
        _v253 = _v252.stamp
        _x = _v253
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v252.frame_id = str[start:end].decode('utf-8')
        else:
          _v252.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v251.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]
          _v251.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v251.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)
        _v251.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)
        _v251.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v254 = val1.grasp_posture
        _v255 = _v254.header
        start = end
        end += 4
        (_v255.seq,) = _struct_I.unpack(str[start:end])
        _v256 = _v255.stamp
        _x = _v256
        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:
          _v255.frame_id = str[start:end].decode('utf-8')
        else:
          _v255.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v254.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]
          _v254.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v254.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)
        _v254.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)
        _v254.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v257 = val1.grasp_pose
        _v258 = _v257.header
        start = end
        end += 4
        (_v258.seq,) = _struct_I.unpack(str[start:end])
        _v259 = _v258.stamp
        _x = _v259
        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:
          _v258.frame_id = str[start:end].decode('utf-8')
        else:
          _v258.frame_id = str[start:end]
        _v260 = _v257.pose
        _v261 = _v260.position
        _x = _v261
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v262 = _v260.orientation
        _x = _v262
        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])
        _v263 = val1.approach
        _v264 = _v263.direction
        _v265 = _v264.header
        start = end
        end += 4
        (_v265.seq,) = _struct_I.unpack(str[start:end])
        _v266 = _v265.stamp
        _x = _v266
        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:
          _v265.frame_id = str[start:end].decode('utf-8')
        else:
          _v265.frame_id = str[start:end]
        _v267 = _v264.vector
        _x = _v267
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v263
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v268 = val1.retreat
        _v269 = _v268.direction
        _v270 = _v269.header
        start = end
        end += 4
        (_v270.seq,) = _struct_I.unpack(str[start:end])
        _v271 = _v270.stamp
        _x = _v271
        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:
          _v270.frame_id = str[start:end].decode('utf-8')
        else:
          _v270.frame_id = str[start:end]
        _v272 = _v269.vector
        _x = _v272
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v268
        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.desired_grasps.append(val1)
      _x = self
      start = end
      end += 12
      (_x.lift.direction.header.seq, _x.lift.direction.header.stamp.secs, _x.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.lift.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.lift.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.lift.direction.vector.x, _x.lift.direction.vector.y, _x.lift.direction.vector.z, _x.lift.desired_distance, _x.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.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.allow_gripper_support_collision, _x.use_reactive_execution, _x.use_reactive_lift, _x.only_perform_feasibility_test, _x.ignore_collisions,) = _struct_5B.unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      self.use_reactive_execution = bool(self.use_reactive_execution)
      self.use_reactive_lift = bool(self.use_reactive_lift)
      self.only_perform_feasibility_test = bool(self.only_perform_feasibility_test)
      self.ignore_collisions = bool(self.ignore_collisions)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v273 = val1.header
        start = end
        end += 4
        (_v273.seq,) = _struct_I.unpack(str[start:end])
        _v274 = _v273.stamp
        _x = _v274
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v273.frame_id = str[start:end].decode('utf-8')
        else:
          _v273.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]
        _v275 = val1.target_point_offset
        _x = _v275
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v276 = val1.position
        _x = _v276
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v277 = val1.constraint_region_shape
        start = end
        end += 1
        (_v277.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)
        _v277.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)
        _v277.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v277.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])
          _v277.vertices.append(val3)
        _v278 = val1.constraint_region_orientation
        _x = _v278
        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.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v279 = val1.header
        start = end
        end += 4
        (_v279.seq,) = _struct_I.unpack(str[start:end])
        _v280 = _v279.stamp
        _x = _v280
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v279.frame_id = str[start:end].decode('utf-8')
        else:
          _v279.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])
        _v281 = val1.orientation
        _x = _v281
        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.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v282 = val1.header
        start = end
        end += 4
        (_v282.seq,) = _struct_I.unpack(str[start:end])
        _v283 = _v282.stamp
        _x = _v283
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v282.frame_id = str[start:end].decode('utf-8')
        else:
          _v282.frame_id = str[start:end]
        _v284 = val1.target
        _v285 = _v284.header
        start = end
        end += 4
        (_v285.seq,) = _struct_I.unpack(str[start:end])
        _v286 = _v285.stamp
        _x = _v286
        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:
          _v285.frame_id = str[start:end].decode('utf-8')
        else:
          _v285.frame_id = str[start:end]
        _v287 = _v284.point
        _x = _v287
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v288 = val1.sensor_pose
        _v289 = _v288.header
        start = end
        end += 4
        (_v289.seq,) = _struct_I.unpack(str[start:end])
        _v290 = _v289.stamp
        _x = _v290
        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:
          _v289.frame_id = str[start:end].decode('utf-8')
        else:
          _v289.frame_id = str[start:end]
        _v291 = _v288.pose
        _v292 = _v291.position
        _x = _v292
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v293 = _v291.orientation
        _x = _v293
        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.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.additional_link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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])
          _v294 = val2.type
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v294.key = str[start:end].decode('utf-8')
          else:
            _v294.key = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v294.db = str[start:end].decode('utf-8')
          else:
            _v294.db = str[start:end]
          _v295 = val2.pose
          _v296 = _v295.header
          start = end
          end += 4
          (_v296.seq,) = _struct_I.unpack(str[start:end])
          _v297 = _v296.stamp
          _x = _v297
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v296.frame_id = str[start:end].decode('utf-8')
          else:
            _v296.frame_id = str[start:end]
          _v298 = _v295.pose
          _v299 = _v298.position
          _x = _v299
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v300 = _v298.orientation
          _x = _v300
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          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)
        _v301 = val1.cluster
        _v302 = _v301.header
        start = end
        end += 4
        (_v302.seq,) = _struct_I.unpack(str[start:end])
        _v303 = _v302.stamp
        _x = _v303
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v302.frame_id = str[start:end].decode('utf-8')
        else:
          _v302.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v301.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])
          _v301.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v301.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)
          _v301.channels.append(val3)
        _v304 = val1.region
        _v305 = _v304.cloud
        _v306 = _v305.header
        start = end
        end += 4
        (_v306.seq,) = _struct_I.unpack(str[start:end])
        _v307 = _v306.stamp
        _x = _v307
        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:
          _v306.frame_id = str[start:end].decode('utf-8')
        else:
          _v306.frame_id = str[start:end]
        _x = _v305
        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])
        _v305.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])
          _v305.fields.append(val4)
        _x = _v305
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v305.is_bigendian = bool(_v305.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v305.data = str[start:end]
        start = end
        end += 1
        (_v305.is_dense,) = _struct_B.unpack(str[start:end])
        _v305.is_dense = bool(_v305.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v304.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v308 = _v304.image
        _v309 = _v308.header
        start = end
        end += 4
        (_v309.seq,) = _struct_I.unpack(str[start:end])
        _v310 = _v309.stamp
        _x = _v310
        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:
          _v309.frame_id = str[start:end].decode('utf-8')
        else:
          _v309.frame_id = str[start:end]
        _x = _v308
        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:
          _v308.encoding = str[start:end].decode('utf-8')
        else:
          _v308.encoding = str[start:end]
        _x = _v308
        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
        _v308.data = str[start:end]
        _v311 = _v304.disparity_image
        _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]
        _x = _v311
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v311.encoding = str[start:end].decode('utf-8')
        else:
          _v311.encoding = str[start:end]
        _x = _v311
        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
        _v311.data = str[start:end]
        _v314 = _v304.cam_info
        _v315 = _v314.header
        start = end
        end += 4
        (_v315.seq,) = _struct_I.unpack(str[start:end])
        _v316 = _v315.stamp
        _x = _v316
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v315.frame_id = str[start:end].decode('utf-8')
        else:
          _v315.frame_id = str[start:end]
        _x = _v314
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v314.distortion_model = str[start:end].decode('utf-8')
        else:
          _v314.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)
        _v314.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v314.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v314.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v314.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v314
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v317 = _v314.roi
        _x = _v317
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v317.do_rectify = bool(_v317.do_rectify)
        _v318 = _v304.roi_box_pose
        _v319 = _v318.header
        start = end
        end += 4
        (_v319.seq,) = _struct_I.unpack(str[start:end])
        _v320 = _v319.stamp
        _x = _v320
        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:
          _v319.frame_id = str[start:end].decode('utf-8')
        else:
          _v319.frame_id = str[start:end]
        _v321 = _v318.pose
        _v322 = _v321.position
        _x = _v322
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v323 = _v321.orientation
        _x = _v323
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v324 = _v304.roi_box_dims
        _x = _v324
        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.movable_obstacles.append(val1)
      start = end
      end += 4
      (self.max_contact_force,) = _struct_f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

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