_PlaceGoal.py

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"""autogenerated by genpy from object_manipulation_msgs/PlaceGoal.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 sensor_msgs.msg
import std_msgs.msg

class PlaceGoal(genpy.Message):
  _md5sum = "034b7ae47f0a62d98ce7315be451c829"
  _type = "object_manipulation_msgs/PlaceGoal"
  _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 placing an object

# which arm to be used for grasping
string arm_name

# a list of possible locations for the gripper when placing
# note that these refer to where the *gripper* should go when the object is placed
# it is the job of the caller to make sure that these are set to that the *object*
# ends up in a desired location
geometry_msgs/PoseStamped[] place_locations

# the grasp that has been executed on this object
# (contains the grasp_pose referred to above)
manipulation_msgs/Grasp grasp

# how far the retreat should ideally be away from the place location
float32 desired_retreat_distance

# the min distance between the retreat and the place location that must actually be feasible 
# for the place not to be rejected
float32 min_retreat_distance

# how the place location should be approached
# 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 approach

# 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-place to place and during retreat. Collisions when moving to the
# pre-place location are still not allowed even if this is set to true.
bool allow_gripper_support_collision

# whether reactive placing based on tactile sensors should be used
bool use_reactive_place

# how much the object should be padded by when deciding if the grasp
# location is freasible or not
float64 place_padding

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

# 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 placing. 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 placing. 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


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

float64 x
float64 y
float64 z
================================================================================
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','place_locations','grasp','desired_retreat_distance','min_retreat_distance','approach','collision_object_name','collision_support_surface_name','allow_gripper_support_collision','use_reactive_place','place_padding','only_perform_feasibility_test','path_constraints','additional_collision_operations','additional_link_padding']
  _slot_types = ['string','geometry_msgs/PoseStamped[]','manipulation_msgs/Grasp','float32','float32','object_manipulation_msgs/GripperTranslation','string','string','bool','bool','float64','bool','arm_navigation_msgs/Constraints','arm_navigation_msgs/OrderedCollisionOperations','arm_navigation_msgs/LinkPadding[]']

  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,place_locations,grasp,desired_retreat_distance,min_retreat_distance,approach,collision_object_name,collision_support_surface_name,allow_gripper_support_collision,use_reactive_place,place_padding,only_perform_feasibility_test,path_constraints,additional_collision_operations,additional_link_padding

    :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(PlaceGoal, 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.place_locations is None:
        self.place_locations = []
      if self.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      if self.desired_retreat_distance is None:
        self.desired_retreat_distance = 0.
      if self.min_retreat_distance is None:
        self.min_retreat_distance = 0.
      if self.approach is None:
        self.approach = 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_place is None:
        self.use_reactive_place = False
      if self.place_padding is None:
        self.place_padding = 0.
      if self.only_perform_feasibility_test is None:
        self.only_perform_feasibility_test = 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 = []
    else:
      self.arm_name = ''
      self.place_locations = []
      self.grasp = manipulation_msgs.msg.Grasp()
      self.desired_retreat_distance = 0.
      self.min_retreat_distance = 0.
      self.approach = object_manipulation_msgs.msg.GripperTranslation()
      self.collision_object_name = ''
      self.collision_support_surface_name = ''
      self.allow_gripper_support_collision = False
      self.use_reactive_place = False
      self.place_padding = 0.
      self.only_perform_feasibility_test = False
      self.path_constraints = arm_navigation_msgs.msg.Constraints()
      self.additional_collision_operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      self.additional_link_padding = []

  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))
      length = len(self.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.place_locations:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.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))
        _v3 = val1.pose
        _v4 = _v3.position
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = _v3.orientation
        _x = _v5
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self.grasp.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.position))
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.velocity))
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.position))
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.velocity))
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.grasp.grasp_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_8d3I.pack(_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs))
      _x = self.grasp.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f3I.pack(_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.grasp.retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d3f.pack(_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force))
      length = len(self.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_2f3I.pack(_x.desired_retreat_distance, _x.min_retreat_distance, _x.approach.direction.header.seq, _x.approach.direction.header.stamp.secs, _x.approach.direction.header.stamp.nsecs))
      _x = self.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.approach.direction.vector.x, _x.approach.direction.vector.y, _x.approach.direction.vector.z, _x.approach.desired_distance, _x.approach.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_2BdB.pack(_x.allow_gripper_support_collision, _x.use_reactive_place, _x.place_padding, _x.only_perform_feasibility_test))
      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:
        _v6 = val1.header
        buff.write(_struct_I.pack(_v6.seq))
        _v7 = _v6.stamp
        _x = _v7
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v6.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))
        _v8 = val1.target_point_offset
        _x = _v8
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v9 = val1.position
        _x = _v9
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v10 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v10.type))
        length = len(_v10.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.dimensions))
        length = len(_v10.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v10.triangles))
        length = len(_v10.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v10.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v11 = val1.constraint_region_orientation
        _x = _v11
        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:
        _v12 = val1.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))
        _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))
        _v14 = val1.orientation
        _x = _v14
        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:
        _v15 = val1.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 = val1.target
        _v18 = _v17.header
        buff.write(_struct_I.pack(_v18.seq))
        _v19 = _v18.stamp
        _x = _v19
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v18.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))
        _v20 = _v17.point
        _x = _v20
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v21 = val1.sensor_pose
        _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.pose
        _v25 = _v24.position
        _x = _v25
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v26 = _v24.orientation
        _x = _v26
        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))
    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.place_locations is None:
        self.place_locations = None
      if self.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      if self.approach is None:
        self.approach = 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
      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])
      self.place_locations = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v27 = val1.header
        start = end
        end += 4
        (_v27.seq,) = _struct_I.unpack(str[start:end])
        _v28 = _v27.stamp
        _x = _v28
        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:
          _v27.frame_id = str[start:end].decode('utf-8')
        else:
          _v27.frame_id = str[start:end]
        _v29 = val1.pose
        _v30 = _v29.position
        _x = _v30
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v31 = _v29.orientation
        _x = _v31
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.place_locations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.id = str[start:end].decode('utf-8')
      else:
        self.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 20
      (_x.desired_retreat_distance, _x.min_retreat_distance, _x.approach.direction.header.seq, _x.approach.direction.header.stamp.secs, _x.approach.direction.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.approach.direction.vector.x, _x.approach.direction.vector.y, _x.approach.direction.vector.z, _x.approach.desired_distance, _x.approach.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 += 11
      (_x.allow_gripper_support_collision, _x.use_reactive_place, _x.place_padding, _x.only_perform_feasibility_test,) = _struct_2BdB.unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      self.use_reactive_place = bool(self.use_reactive_place)
      self.only_perform_feasibility_test = bool(self.only_perform_feasibility_test)
      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()
        _v32 = val1.header
        start = end
        end += 4
        (_v32.seq,) = _struct_I.unpack(str[start:end])
        _v33 = _v32.stamp
        _x = _v33
        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:
          _v32.frame_id = str[start:end].decode('utf-8')
        else:
          _v32.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]
        _v34 = val1.target_point_offset
        _x = _v34
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v35 = val1.position
        _x = _v35
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v36 = val1.constraint_region_shape
        start = end
        end += 1
        (_v36.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)
        _v36.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)
        _v36.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v36.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])
          _v36.vertices.append(val3)
        _v37 = val1.constraint_region_orientation
        _x = _v37
        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()
        _v38 = val1.header
        start = end
        end += 4
        (_v38.seq,) = _struct_I.unpack(str[start:end])
        _v39 = _v38.stamp
        _x = _v39
        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:
          _v38.frame_id = str[start:end].decode('utf-8')
        else:
          _v38.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])
        _v40 = val1.orientation
        _x = _v40
        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()
        _v41 = val1.header
        start = end
        end += 4
        (_v41.seq,) = _struct_I.unpack(str[start:end])
        _v42 = _v41.stamp
        _x = _v42
        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:
          _v41.frame_id = str[start:end].decode('utf-8')
        else:
          _v41.frame_id = str[start:end]
        _v43 = val1.target
        _v44 = _v43.header
        start = end
        end += 4
        (_v44.seq,) = _struct_I.unpack(str[start:end])
        _v45 = _v44.stamp
        _x = _v45
        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:
          _v44.frame_id = str[start:end].decode('utf-8')
        else:
          _v44.frame_id = str[start:end]
        _v46 = _v43.point
        _x = _v46
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v47 = val1.sensor_pose
        _v48 = _v47.header
        start = end
        end += 4
        (_v48.seq,) = _struct_I.unpack(str[start:end])
        _v49 = _v48.stamp
        _x = _v49
        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:
          _v48.frame_id = str[start:end].decode('utf-8')
        else:
          _v48.frame_id = str[start:end]
        _v50 = _v47.pose
        _v51 = _v50.position
        _x = _v51
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v52 = _v50.orientation
        _x = _v52
        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)
      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))
      length = len(self.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.place_locations:
        _v53 = val1.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 = val1.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))
      _x = self.grasp.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.position.tostring())
      length = len(self.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.grasp.grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.position.tostring())
      length = len(self.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.velocity.tostring())
      length = len(self.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.grasp.grasp_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_8d3I.pack(_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs))
      _x = self.grasp.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f3I.pack(_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.grasp.retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d3f.pack(_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force))
      length = len(self.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_2f3I.pack(_x.desired_retreat_distance, _x.min_retreat_distance, _x.approach.direction.header.seq, _x.approach.direction.header.stamp.secs, _x.approach.direction.header.stamp.nsecs))
      _x = self.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f.pack(_x.approach.direction.vector.x, _x.approach.direction.vector.y, _x.approach.direction.vector.z, _x.approach.desired_distance, _x.approach.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_2BdB.pack(_x.allow_gripper_support_collision, _x.use_reactive_place, _x.place_padding, _x.only_perform_feasibility_test))
      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:
        _v58 = val1.header
        buff.write(_struct_I.pack(_v58.seq))
        _v59 = _v58.stamp
        _x = _v59
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v58.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _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))
        _v60 = val1.target_point_offset
        _x = _v60
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v61 = val1.position
        _x = _v61
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v62 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v62.type))
        length = len(_v62.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v62.dimensions.tostring())
        length = len(_v62.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v62.triangles.tostring())
        length = len(_v62.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v62.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v63 = val1.constraint_region_orientation
        _x = _v63
        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:
        _v64 = val1.header
        buff.write(_struct_I.pack(_v64.seq))
        _v65 = _v64.stamp
        _x = _v65
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v64.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))
        _v66 = val1.orientation
        _x = _v66
        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:
        _v67 = val1.header
        buff.write(_struct_I.pack(_v67.seq))
        _v68 = _v67.stamp
        _x = _v68
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v67.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))
        _v69 = val1.target
        _v70 = _v69.header
        buff.write(_struct_I.pack(_v70.seq))
        _v71 = _v70.stamp
        _x = _v71
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v70.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))
        _v72 = _v69.point
        _x = _v72
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v73 = val1.sensor_pose
        _v74 = _v73.header
        buff.write(_struct_I.pack(_v74.seq))
        _v75 = _v74.stamp
        _x = _v75
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v74.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v76 = _v73.pose
        _v77 = _v76.position
        _x = _v77
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v78 = _v76.orientation
        _x = _v78
        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))
    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.place_locations is None:
        self.place_locations = None
      if self.grasp is None:
        self.grasp = manipulation_msgs.msg.Grasp()
      if self.approach is None:
        self.approach = 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
      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])
      self.place_locations = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v79 = val1.header
        start = end
        end += 4
        (_v79.seq,) = _struct_I.unpack(str[start:end])
        _v80 = _v79.stamp
        _x = _v80
        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:
          _v79.frame_id = str[start:end].decode('utf-8')
        else:
          _v79.frame_id = str[start:end]
        _v81 = val1.pose
        _v82 = _v81.position
        _x = _v82
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v83 = _v81.orientation
        _x = _v83
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.place_locations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.id = str[start:end].decode('utf-8')
      else:
        self.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.grasp.pre_grasp_posture.header.seq, _x.grasp.pre_grasp_posture.header.stamp.secs, _x.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_posture.header.seq, _x.grasp.grasp_posture.header.stamp.secs, _x.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp.grasp_pose.header.seq, _x.grasp.grasp_pose.header.stamp.secs, _x.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.grasp.grasp_pose.pose.position.x, _x.grasp.grasp_pose.pose.position.y, _x.grasp.grasp_pose.pose.position.z, _x.grasp.grasp_pose.pose.orientation.x, _x.grasp.grasp_pose.pose.orientation.y, _x.grasp.grasp_pose.pose.orientation.z, _x.grasp.grasp_pose.pose.orientation.w, _x.grasp.grasp_quality, _x.grasp.approach.direction.header.seq, _x.grasp.approach.direction.header.stamp.secs, _x.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.grasp.approach.direction.vector.x, _x.grasp.approach.direction.vector.y, _x.grasp.approach.direction.vector.z, _x.grasp.approach.desired_distance, _x.grasp.approach.min_distance, _x.grasp.retreat.direction.header.seq, _x.grasp.retreat.direction.header.stamp.secs, _x.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.grasp.retreat.direction.vector.x, _x.grasp.retreat.direction.vector.y, _x.grasp.retreat.direction.vector.z, _x.grasp.retreat.desired_distance, _x.grasp.retreat.min_distance, _x.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.grasp.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 20
      (_x.desired_retreat_distance, _x.min_retreat_distance, _x.approach.direction.header.seq, _x.approach.direction.header.stamp.secs, _x.approach.direction.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.approach.direction.vector.x, _x.approach.direction.vector.y, _x.approach.direction.vector.z, _x.approach.desired_distance, _x.approach.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 += 11
      (_x.allow_gripper_support_collision, _x.use_reactive_place, _x.place_padding, _x.only_perform_feasibility_test,) = _struct_2BdB.unpack(str[start:end])
      self.allow_gripper_support_collision = bool(self.allow_gripper_support_collision)
      self.use_reactive_place = bool(self.use_reactive_place)
      self.only_perform_feasibility_test = bool(self.only_perform_feasibility_test)
      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()
        _v84 = val1.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]
        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]
        _v86 = val1.target_point_offset
        _x = _v86
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v87 = val1.position
        _x = _v87
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v88 = val1.constraint_region_shape
        start = end
        end += 1
        (_v88.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)
        _v88.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)
        _v88.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v88.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])
          _v88.vertices.append(val3)
        _v89 = val1.constraint_region_orientation
        _x = _v89
        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()
        _v90 = val1.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])
        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])
        _v92 = val1.orientation
        _x = _v92
        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()
        _v93 = val1.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]
        _v95 = val1.target
        _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.point
        _x = _v98
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v99 = val1.sensor_pose
        _v100 = _v99.header
        start = end
        end += 4
        (_v100.seq,) = _struct_I.unpack(str[start:end])
        _v101 = _v100.stamp
        _x = _v101
        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:
          _v100.frame_id = str[start:end].decode('utf-8')
        else:
          _v100.frame_id = str[start:end]
        _v102 = _v99.pose
        _v103 = _v102.position
        _x = _v103
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v104 = _v102.orientation
        _x = _v104
        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)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_b = struct.Struct("<b")
_struct_2f3I = struct.Struct("<2f3I")
_struct_d = struct.Struct("<d")
_struct_di = struct.Struct("<di")
_struct_i = struct.Struct("<i")
_struct_3d2f = struct.Struct("<3d2f")
_struct_3d3f = struct.Struct("<3d3f")
_struct_8d3I = struct.Struct("<8d3I")
_struct_3I = struct.Struct("<3I")
_struct_2BdB = struct.Struct("<2BdB")
_struct_3d2f3I = struct.Struct("<3d2f3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")