_GraspPlanningActionGoal.py

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

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

class GraspPlanningActionGoal(genpy.Message):
  _md5sum = "bd86cee38f37732db5c86d633be95d66"
  _type = "object_manipulation_msgs/GraspPlanningActionGoal"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
GraspPlanningGoal goal

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

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

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


================================================================================
MSG: object_manipulation_msgs/GraspPlanningGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Requests that grasp planning be performed on the object to be grasped
# returns a list of grasps to be tested and executed

# the arm being used
string arm_name

# the object to be grasped
GraspableObject target

# the name that the target object has in the collision environment
# 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

# an optional list of grasps to be evaluated by the planner
Grasp[] grasps_to_evaluate

# an optional list of obstacles that we have semantic information about
# and that can be moved in the course of grasping
GraspableObject[] movable_obstacles


================================================================================
MSG: object_manipulation_msgs/GraspableObject
# an object that the object_manipulator can work on

# a graspable object can be represented in multiple ways. This message
# can contain all of them. Which one is actually used is up to the receiver
# of this message. When adding new representations, one must be careful that
# they have reasonable lightweight defaults indicating that that particular
# representation is not available.

# the tf frame to be used as a reference frame when combining information from
# the different representations below
string reference_frame_id

# potential recognition results from a database of models
# all poses are relative to the object reference pose
household_objects_database_msgs/DatabaseModelPose[] potential_models

# the point cloud itself
sensor_msgs/PointCloud cluster

# a region of a PointCloud2 of interest
object_manipulation_msgs/SceneRegion region

# the name that this object has in the collision environment
string collision_name
================================================================================
MSG: household_objects_database_msgs/DatabaseModelPose
# Informs that a specific model from the Model Database has been 
# identified at a certain location

# the database id of the model
int32 model_id

# the pose that it can be found in
geometry_msgs/PoseStamped pose

# a measure of the confidence level in this detection result
float32 confidence

# the name of the object detector that generated this detection result
string detector_name

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: sensor_msgs/PointCloud
# This message holds a collection of 3d points, plus optional additional
# information about each point.

# Time of sensor data acquisition, coordinate frame ID.
Header header

# Array of 3d points. Each Point32 should be interpreted as a 3d point
# in the frame given in the header.
geometry_msgs/Point32[] points

# Each channel should have the same number of elements as points array,
# and the data in each channel should correspond 1:1 with each point.
# Channel names in common practice are listed in ChannelFloat32.msg.
ChannelFloat32[] channels

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
================================================================================
MSG: sensor_msgs/ChannelFloat32
# This message is used by the PointCloud message to hold optional data
# associated with each point in the cloud. The length of the values
# array should be the same as the length of the points array in the
# PointCloud, and each value should be associated with the corresponding
# point.

# Channel names in existing practice include:
#   "u", "v" - row and column (respectively) in the left stereo image.
#              This is opposite to usual conventions but remains for
#              historical reasons. The newer PointCloud2 message has no
#              such problem.
#   "rgb" - For point clouds produced by color stereo cameras. uint8
#           (R,G,B) values packed into the least significant 24 bits,
#           in order.
#   "intensity" - laser or pixel intensity.
#   "distance"

# The channel name should give semantics of the channel (e.g.
# "intensity" instead of "value").
string name

# The values array should be 1-1 with the elements of the associated
# PointCloud.
float32[] values

================================================================================
MSG: object_manipulation_msgs/SceneRegion
# Point cloud
sensor_msgs/PointCloud2 cloud

# Indices for the region of interest
int32[] mask

# One of the corresponding 2D images, if applicable
sensor_msgs/Image image

# The disparity image, if applicable
sensor_msgs/Image disparity_image

# Camera info for the camera that took the image
sensor_msgs/CameraInfo cam_info

# a 3D region of interest for grasp planning
geometry_msgs/PoseStamped  roi_box_pose
geometry_msgs/Vector3      roi_box_dims

================================================================================
MSG: sensor_msgs/PointCloud2
# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.

# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   # Length of a point in bytes
uint32  row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points

================================================================================
MSG: sensor_msgs/PointField
# This message holds the description of one point entry in the
# PointCloud2 message format.
uint8 INT8    = 1
uint8 UINT8   = 2
uint8 INT16   = 3
uint8 UINT16  = 4
uint8 INT32   = 5
uint8 UINT32  = 6
uint8 FLOAT32 = 7
uint8 FLOAT64 = 8

string name      # Name of field
uint32 offset    # Offset from start of point struct
uint8  datatype  # Datatype enumeration, see above
uint32 count     # How many elements in the field

================================================================================
MSG: sensor_msgs/Image
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of cameara
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image
                     # If the frame_id here and the frame_id of the CameraInfo
                     # message associated with the image conflict
                     # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in src/image_encodings.cpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

================================================================================
MSG: sensor_msgs/CameraInfo
# This message defines meta information for a camera. It should be in a
# camera namespace on topic "camera_info" and accompanied by up to five
# image topics named:
#
#   image_raw - raw data from the camera driver, possibly Bayer encoded
#   image            - monochrome, distorted
#   image_color      - color, distorted
#   image_rect       - monochrome, rectified
#   image_rect_color - color, rectified
#
# The image_pipeline contains packages (image_proc, stereo_image_proc)
# for producing the four processed image topics from image_raw and
# camera_info. The meaning of the camera parameters are described in
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
#
# The image_geometry package provides a user-friendly interface to
# common operations using this meta information. If you want to, e.g.,
# project a 3d point into image coordinates, we strongly recommend
# using image_geometry.
#
# If the camera is uncalibrated, the matrices D, K, R, P should be left
# zeroed out. In particular, clients may assume that K[0] == 0.0
# indicates an uncalibrated camera.

#######################################################################
#                     Image acquisition info                          #
#######################################################################

# Time of image acquisition, camera coordinate frame ID
Header header    # Header timestamp should be acquisition time of image
                 # Header frame_id should be optical frame of camera
                 # origin of frame should be optical center of camera
                 # +x should point to the right in the image
                 # +y should point down in the image
                 # +z should point into the plane of the image


#######################################################################
#                      Calibration Parameters                         #
#######################################################################
# These are fixed during camera calibration. Their values will be the #
# same in all messages until the camera is recalibrated. Note that    #
# self-calibrating systems may "recalibrate" frequently.              #
#                                                                     #
# The internal parameters can be used to warp a raw (distorted) image #
# to:                                                                 #
#   1. An undistorted image (requires D and K)                        #
#   2. A rectified image (requires D, K, R)                           #
# The projection matrix P projects 3D points into the rectified image.#
#######################################################################

# The image dimensions with which the camera was calibrated. Normally
# this will be the full camera resolution in pixels.
uint32 height
uint32 width

# The distortion model used. Supported models are listed in
# sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a
# simple model of radial and tangential distortion - is sufficent.
string distortion_model

# The distortion parameters, size depending on the distortion model.
# For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
float64[] D

# Intrinsic camera matrix for the raw (distorted) images.
#     [fx  0 cx]
# K = [ 0 fy cy]
#     [ 0  0  1]
# Projects 3D points in the camera coordinate frame to 2D pixel
# coordinates using the focal lengths (fx, fy) and principal point
# (cx, cy).
float64[9]  K # 3x3 row-major matrix

# Rectification matrix (stereo cameras only)
# A rotation matrix aligning the camera coordinate system to the ideal
# stereo image plane so that epipolar lines in both stereo images are
# parallel.
float64[9]  R # 3x3 row-major matrix

# Projection/camera matrix
#     [fx'  0  cx' Tx]
# P = [ 0  fy' cy' Ty]
#     [ 0   0   1   0]
# By convention, this matrix specifies the intrinsic (camera) matrix
#  of the processed (rectified) image. That is, the left 3x3 portion
#  is the normal camera intrinsic matrix for the rectified image.
# It projects 3D points in the camera coordinate frame to 2D pixel
#  coordinates using the focal lengths (fx', fy') and principal point
#  (cx', cy') - these may differ from the values in K.
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
#  also have R = the identity and P[1:3,1:3] = K.
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the
#  position of the optical center of the second camera in the first
#  camera's frame. We assume Tz = 0 so both cameras are in the same
#  stereo image plane. The first camera always has Tx = Ty = 0. For
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and
#  Tx = -fx' * B, where B is the baseline between the cameras.
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto
#  the rectified image is given by:
#  [u v w]' = P * [X Y Z 1]'
#         x = u / w
#         y = v / w
#  This holds for both images of a stereo pair.
float64[12] P # 3x4 row-major matrix


#######################################################################
#                      Operational Parameters                         #
#######################################################################
# These define the image region actually captured by the camera       #
# driver. Although they affect the geometry of the output image, they #
# may be changed freely without recalibrating the camera.             #
#######################################################################

# Binning refers here to any camera setting which combines rectangular
#  neighborhoods of pixels into larger "super-pixels." It reduces the
#  resolution of the output image to
#  (width / binning_x) x (height / binning_y).
# The default values binning_x = binning_y = 0 is considered the same
#  as binning_x = binning_y = 1 (no subsampling).
uint32 binning_x
uint32 binning_y

# Region of interest (subwindow of full camera resolution), given in
#  full resolution (unbinned) image coordinates. A particular ROI
#  always denotes the same window of pixels on the camera sensor,
#  regardless of binning settings.
# The default setting of roi (all values 0) is considered the same as
#  full resolution (roi.width = width, roi.height = height).
RegionOfInterest roi

================================================================================
MSG: sensor_msgs/RegionOfInterest
# This message is used to specify a region of interest within an image.
#
# When used to specify the ROI setting of the camera when the image was
# taken, the height and width fields should either match the height and
# width fields for the associated image; or height = width = 0
# indicates that the full resolution image was captured.

uint32 x_offset  # Leftmost pixel of the ROI
                 # (0 if the ROI includes the left edge of the image)
uint32 y_offset  # Topmost pixel of the ROI
                 # (0 if the ROI includes the top edge of the image)
uint32 height    # Height of ROI
uint32 width     # Width of ROI

# True if a distinct rectified ROI should be calculated from the "raw"
# ROI in this message. Typically this should be False if the full image
# is captured (ROI not used), and True if a subwindow is captured (ROI
# used).
bool do_rectify

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

float64 x
float64 y
float64 z
================================================================================
MSG: object_manipulation_msgs/Grasp

# The internal posture of the hand for the pre-grasp
# only positions are used
sensor_msgs/JointState pre_grasp_posture

# The internal posture of the hand for the grasp
# positions and efforts are used
sensor_msgs/JointState grasp_posture

# The position of the end-effector for the grasp relative to a reference frame 
# (that is always specified elsewhere, not in this message)
geometry_msgs/Pose grasp_pose

# The estimated probability of success for this grasp
float64 success_probability

# Debug flag to indicate that this grasp would be the best in its cluster
bool cluster_rep

# how far the pre-grasp should ideally be away from the grasp
float32 desired_approach_distance

# how much distance between pre-grasp and grasp must actually be feasible 
# for the grasp not to be rejected
float32 min_approach_distance

# an optional list of obstacles that we have semantic information about
# and that we expect might move in the course of executing this grasp
# the grasp planner is expected to make sure they move in an OK way; during
# execution, grasp executors will not check for collisions against these objects
GraspableObject[] moved_obstacles

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


Header header

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

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

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

    The available fields are:
       header,goal_id,goal

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(GraspPlanningActionGoal, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.GraspPlanningGoal()
    else:
      self.header = std_msgs.msg.Header()
      self.goal_id = actionlib_msgs.msg.GoalID()
      self.goal = object_manipulation_msgs.msg.GraspPlanningGoal()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.target.reference_frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v1 = val1.pose
        _v2 = _v1.header
        buff.write(_struct_I.pack(_v2.seq))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v2.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v4 = _v1.pose
        _v5 = _v4.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = _v4.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_f.pack(val1.confidence))
        _x = val1.detector_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs))
      _x = self.goal.target.cluster.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.values))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.goal.target.region.cloud.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width))
      length = len(self.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
      _x = self
      buff.write(_struct_B2I.pack(_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step))
      _x = self.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.goal.target.region.cloud.is_dense))
      length = len(self.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.goal.target.region.mask))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs))
      _x = self.goal.target.region.image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.image.height, _x.goal.target.region.image.width))
      _x = self.goal.target.region.image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step))
      _x = self.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width))
      _x = self.goal.target.region.disparity_image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step))
      _x = self.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width))
      _x = self.goal.target.region.cam_info.distortion_model
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.target.region.cam_info.D))
      buff.write(_struct_9d.pack(*self.goal.target.region.cam_info.K))
      buff.write(_struct_9d.pack(*self.goal.target.region.cam_info.R))
      buff.write(_struct_12d.pack(*self.goal.target.region.cam_info.P))
      _x = self
      buff.write(_struct_6IB3I.pack(_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z))
      _x = self.goal.target.collision_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasps_to_evaluate)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasps_to_evaluate:
        _v7 = val1.pre_grasp_posture
        _v8 = _v7.header
        buff.write(_struct_I.pack(_v8.seq))
        _v9 = _v8.stamp
        _x = _v9
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v8.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v7.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v7.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v7.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.position))
        length = len(_v7.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.velocity))
        length = len(_v7.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.effort))
        _v10 = val1.grasp_posture
        _v11 = _v10.header
        buff.write(_struct_I.pack(_v11.seq))
        _v12 = _v11.stamp
        _x = _v12
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v11.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v10.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v10.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v10.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.position))
        length = len(_v10.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.velocity))
        length = len(_v10.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v10.effort))
        _v13 = val1.grasp_pose
        _v14 = _v13.position
        _x = _v14
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = _v13.orientation
        _x = _v15
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v16 = val3.pose
            _v17 = _v16.header
            buff.write(_struct_I.pack(_v17.seq))
            _v18 = _v17.stamp
            _x = _v18
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v17.frame_id
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v19 = _v16.pose
            _v20 = _v19.position
            _x = _v20
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v21 = _v19.orientation
            _x = _v21
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v22 = val2.cluster
          _v23 = _v22.header
          buff.write(_struct_I.pack(_v23.seq))
          _v24 = _v23.stamp
          _x = _v24
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v23.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v22.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v22.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v22.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v22.channels:
            _x = val4.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(struct.pack(pattern, *val4.values))
          _v25 = val2.region
          _v26 = _v25.cloud
          _v27 = _v26.header
          buff.write(_struct_I.pack(_v27.seq))
          _v28 = _v27.stamp
          _x = _v28
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v27.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v26
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v26.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v26.fields:
            _x = val5.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v26
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v26.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v26.is_dense))
          length = len(_v25.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *_v25.mask))
          _v29 = _v25.image
          _v30 = _v29.header
          buff.write(_struct_I.pack(_v30.seq))
          _v31 = _v30.stamp
          _x = _v31
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v30.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v29
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v29.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v29
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v29.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v32 = _v25.disparity_image
          _v33 = _v32.header
          buff.write(_struct_I.pack(_v33.seq))
          _v34 = _v33.stamp
          _x = _v34
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v33.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v32
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v32.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v32
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v32.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v35 = _v25.cam_info
          _v36 = _v35.header
          buff.write(_struct_I.pack(_v36.seq))
          _v37 = _v36.stamp
          _x = _v37
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v36.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v35
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v35.distortion_model
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v35.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *_v35.D))
          buff.write(_struct_9d.pack(*_v35.K))
          buff.write(_struct_9d.pack(*_v35.R))
          buff.write(_struct_12d.pack(*_v35.P))
          _x = _v35
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v38 = _v35.roi
          _x = _v38
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v39 = _v25.roi_box_pose
          _v40 = _v39.header
          buff.write(_struct_I.pack(_v40.seq))
          _v41 = _v40.stamp
          _x = _v41
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v40.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v42 = _v39.pose
          _v43 = _v42.position
          _x = _v43
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v44 = _v42.orientation
          _x = _v44
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v45 = _v25.roi_box_dims
          _x = _v45
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v46 = val2.pose
          _v47 = _v46.header
          buff.write(_struct_I.pack(_v47.seq))
          _v48 = _v47.stamp
          _x = _v48
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v47.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))
          _v49 = _v46.pose
          _v50 = _v49.position
          _x = _v50
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v51 = _v49.orientation
          _x = _v51
          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))
        _v52 = val1.cluster
        _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))
        length = len(_v52.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v52.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v52.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v52.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))
        _v55 = val1.region
        _v56 = _v55.cloud
        _v57 = _v56.header
        buff.write(_struct_I.pack(_v57.seq))
        _v58 = _v57.stamp
        _x = _v58
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v57.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 = _v56
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v56.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v56.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 = _v56
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v56.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(_v56.is_dense))
        length = len(_v55.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v55.mask))
        _v59 = _v55.image
        _v60 = _v59.header
        buff.write(_struct_I.pack(_v60.seq))
        _v61 = _v60.stamp
        _x = _v61
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v60.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 = _v59
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v59.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 = _v59
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v59.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))
        _v62 = _v55.disparity_image
        _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))
        _x = _v62.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 = _v62
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.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))
        _v65 = _v55.cam_info
        _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.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(_v65.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v65.D))
        buff.write(_struct_9d.pack(*_v65.K))
        buff.write(_struct_9d.pack(*_v65.R))
        buff.write(_struct_12d.pack(*_v65.P))
        _x = _v65
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v68 = _v65.roi
        _x = _v68
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v69 = _v55.roi_box_pose
        _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.pose
        _v73 = _v72.position
        _x = _v73
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v74 = _v72.orientation
        _x = _v74
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v75 = _v55.roi_box_dims
        _x = _v75
        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))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.GraspPlanningGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v76 = val1.pose
        _v77 = _v76.header
        start = end
        end += 4
        (_v77.seq,) = _struct_I.unpack(str[start:end])
        _v78 = _v77.stamp
        _x = _v78
        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:
          _v77.frame_id = str[start:end].decode('utf-8')
        else:
          _v77.frame_id = str[start:end]
        _v79 = _v76.pose
        _v80 = _v79.position
        _x = _v80
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v81 = _v79.orientation
        _x = _v81
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (val1.confidence,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.detector_name = str[start:end].decode('utf-8')
        else:
          val1.detector_name = str[start:end]
        self.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = struct.unpack(pattern, str[start:end])
        self.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.goal.target.region.cloud.is_bigendian = bool(self.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.goal.target.region.cloud.is_dense = bool(self.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.target.region.mask = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.image.height, _x.goal.target.region.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.target.region.cam_info.D = struct.unpack(pattern, str[start:end])
      start = end
      end += 72
      self.goal.target.region.cam_info.K = _struct_9d.unpack(str[start:end])
      start = end
      end += 72
      self.goal.target.region.cam_info.R = _struct_9d.unpack(str[start:end])
      start = end
      end += 96
      self.goal.target.region.cam_info.P = _struct_12d.unpack(str[start:end])
      _x = self
      start = end
      end += 37
      (_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.goal.target.region.cam_info.roi.do_rectify = bool(self.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasps_to_evaluate = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v82 = val1.pre_grasp_posture
        _v83 = _v82.header
        start = end
        end += 4
        (_v83.seq,) = _struct_I.unpack(str[start:end])
        _v84 = _v83.stamp
        _x = _v84
        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:
          _v83.frame_id = str[start:end].decode('utf-8')
        else:
          _v83.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v82.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]
          _v82.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v82.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)
        _v82.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)
        _v82.effort = struct.unpack(pattern, str[start:end])
        _v85 = val1.grasp_posture
        _v86 = _v85.header
        start = end
        end += 4
        (_v86.seq,) = _struct_I.unpack(str[start:end])
        _v87 = _v86.stamp
        _x = _v87
        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:
          _v86.frame_id = str[start:end].decode('utf-8')
        else:
          _v86.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v85.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]
          _v85.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v85.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)
        _v85.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)
        _v85.effort = struct.unpack(pattern, str[start:end])
        _v88 = val1.grasp_pose
        _v89 = _v88.position
        _x = _v89
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v90 = _v88.orientation
        _x = _v90
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v91 = val3.pose
            _v92 = _v91.header
            start = end
            end += 4
            (_v92.seq,) = _struct_I.unpack(str[start:end])
            _v93 = _v92.stamp
            _x = _v93
            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:
              _v92.frame_id = str[start:end].decode('utf-8')
            else:
              _v92.frame_id = str[start:end]
            _v94 = _v91.pose
            _v95 = _v94.position
            _x = _v95
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v96 = _v94.orientation
            _x = _v96
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v97 = val2.cluster
          _v98 = _v97.header
          start = end
          end += 4
          (_v98.seq,) = _struct_I.unpack(str[start:end])
          _v99 = _v98.stamp
          _x = _v99
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v98.frame_id = str[start:end].decode('utf-8')
          else:
            _v98.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v97.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v97.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v97.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = struct.unpack(pattern, str[start:end])
            _v97.channels.append(val4)
          _v100 = val2.region
          _v101 = _v100.cloud
          _v102 = _v101.header
          start = end
          end += 4
          (_v102.seq,) = _struct_I.unpack(str[start:end])
          _v103 = _v102.stamp
          _x = _v103
          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:
            _v102.frame_id = str[start:end].decode('utf-8')
          else:
            _v102.frame_id = str[start:end]
          _x = _v101
          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])
          _v101.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v101.fields.append(val5)
          _x = _v101
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v101.is_bigendian = bool(_v101.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v101.data = str[start:end].decode('utf-8')
          else:
            _v101.data = str[start:end]
          start = end
          end += 1
          (_v101.is_dense,) = _struct_B.unpack(str[start:end])
          _v101.is_dense = bool(_v101.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v100.mask = struct.unpack(pattern, str[start:end])
          _v104 = _v100.image
          _v105 = _v104.header
          start = end
          end += 4
          (_v105.seq,) = _struct_I.unpack(str[start:end])
          _v106 = _v105.stamp
          _x = _v106
          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:
            _v105.frame_id = str[start:end].decode('utf-8')
          else:
            _v105.frame_id = str[start:end]
          _x = _v104
          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:
            _v104.encoding = str[start:end].decode('utf-8')
          else:
            _v104.encoding = str[start:end]
          _x = _v104
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v104.data = str[start:end].decode('utf-8')
          else:
            _v104.data = str[start:end]
          _v107 = _v100.disparity_image
          _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]
          _x = _v107
          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:
            _v107.encoding = str[start:end].decode('utf-8')
          else:
            _v107.encoding = str[start:end]
          _x = _v107
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v107.data = str[start:end].decode('utf-8')
          else:
            _v107.data = str[start:end]
          _v110 = _v100.cam_info
          _v111 = _v110.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]
          _x = _v110
          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:
            _v110.distortion_model = str[start:end].decode('utf-8')
          else:
            _v110.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)
          _v110.D = struct.unpack(pattern, str[start:end])
          start = end
          end += 72
          _v110.K = _struct_9d.unpack(str[start:end])
          start = end
          end += 72
          _v110.R = _struct_9d.unpack(str[start:end])
          start = end
          end += 96
          _v110.P = _struct_12d.unpack(str[start:end])
          _x = _v110
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v113 = _v110.roi
          _x = _v113
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v113.do_rectify = bool(_v113.do_rectify)
          _v114 = _v100.roi_box_pose
          _v115 = _v114.header
          start = end
          end += 4
          (_v115.seq,) = _struct_I.unpack(str[start:end])
          _v116 = _v115.stamp
          _x = _v116
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v115.frame_id = str[start:end].decode('utf-8')
          else:
            _v115.frame_id = str[start:end]
          _v117 = _v114.pose
          _v118 = _v117.position
          _x = _v118
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v119 = _v117.orientation
          _x = _v119
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v120 = _v100.roi_box_dims
          _x = _v120
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.goal.grasps_to_evaluate.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v121 = val2.pose
          _v122 = _v121.header
          start = end
          end += 4
          (_v122.seq,) = _struct_I.unpack(str[start:end])
          _v123 = _v122.stamp
          _x = _v123
          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:
            _v122.frame_id = str[start:end].decode('utf-8')
          else:
            _v122.frame_id = str[start:end]
          _v124 = _v121.pose
          _v125 = _v124.position
          _x = _v125
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v126 = _v124.orientation
          _x = _v126
          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)
        _v127 = val1.cluster
        _v128 = _v127.header
        start = end
        end += 4
        (_v128.seq,) = _struct_I.unpack(str[start:end])
        _v129 = _v128.stamp
        _x = _v129
        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:
          _v128.frame_id = str[start:end].decode('utf-8')
        else:
          _v128.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v127.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])
          _v127.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v127.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])
          _v127.channels.append(val3)
        _v130 = val1.region
        _v131 = _v130.cloud
        _v132 = _v131.header
        start = end
        end += 4
        (_v132.seq,) = _struct_I.unpack(str[start:end])
        _v133 = _v132.stamp
        _x = _v133
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v132.frame_id = str[start:end].decode('utf-8')
        else:
          _v132.frame_id = str[start:end]
        _x = _v131
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v131.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])
          _v131.fields.append(val4)
        _x = _v131
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v131.is_bigendian = bool(_v131.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v131.data = str[start:end].decode('utf-8')
        else:
          _v131.data = str[start:end]
        start = end
        end += 1
        (_v131.is_dense,) = _struct_B.unpack(str[start:end])
        _v131.is_dense = bool(_v131.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v130.mask = struct.unpack(pattern, str[start:end])
        _v134 = _v130.image
        _v135 = _v134.header
        start = end
        end += 4
        (_v135.seq,) = _struct_I.unpack(str[start:end])
        _v136 = _v135.stamp
        _x = _v136
        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:
          _v135.frame_id = str[start:end].decode('utf-8')
        else:
          _v135.frame_id = str[start:end]
        _x = _v134
        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:
          _v134.encoding = str[start:end].decode('utf-8')
        else:
          _v134.encoding = str[start:end]
        _x = _v134
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v134.data = str[start:end].decode('utf-8')
        else:
          _v134.data = str[start:end]
        _v137 = _v130.disparity_image
        _v138 = _v137.header
        start = end
        end += 4
        (_v138.seq,) = _struct_I.unpack(str[start:end])
        _v139 = _v138.stamp
        _x = _v139
        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:
          _v138.frame_id = str[start:end].decode('utf-8')
        else:
          _v138.frame_id = str[start:end]
        _x = _v137
        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:
          _v137.encoding = str[start:end].decode('utf-8')
        else:
          _v137.encoding = str[start:end]
        _x = _v137
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v137.data = str[start:end].decode('utf-8')
        else:
          _v137.data = str[start:end]
        _v140 = _v130.cam_info
        _v141 = _v140.header
        start = end
        end += 4
        (_v141.seq,) = _struct_I.unpack(str[start:end])
        _v142 = _v141.stamp
        _x = _v142
        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:
          _v141.frame_id = str[start:end].decode('utf-8')
        else:
          _v141.frame_id = str[start:end]
        _x = _v140
        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:
          _v140.distortion_model = str[start:end].decode('utf-8')
        else:
          _v140.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)
        _v140.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v140.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v140.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v140.P = _struct_12d.unpack(str[start:end])
        _x = _v140
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v143 = _v140.roi
        _x = _v143
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v143.do_rectify = bool(_v143.do_rectify)
        _v144 = _v130.roi_box_pose
        _v145 = _v144.header
        start = end
        end += 4
        (_v145.seq,) = _struct_I.unpack(str[start:end])
        _v146 = _v145.stamp
        _x = _v146
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v145.frame_id = str[start:end].decode('utf-8')
        else:
          _v145.frame_id = str[start:end]
        _v147 = _v144.pose
        _v148 = _v147.position
        _x = _v148
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v149 = _v147.orientation
        _x = _v149
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v150 = _v130.roi_box_dims
        _x = _v150
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.movable_obstacles.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.target.reference_frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.potential_models)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.potential_models:
        buff.write(_struct_i.pack(val1.model_id))
        _v151 = val1.pose
        _v152 = _v151.header
        buff.write(_struct_I.pack(_v152.seq))
        _v153 = _v152.stamp
        _x = _v153
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v152.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))
        _v154 = _v151.pose
        _v155 = _v154.position
        _x = _v155
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v156 = _v154.orientation
        _x = _v156
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_f.pack(val1.confidence))
        _x = val1.detector_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs))
      _x = self.goal.target.cluster.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.cluster.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.points:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
      length = len(self.goal.target.cluster.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.cluster.channels:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.values.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs))
      _x = self.goal.target.region.cloud.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width))
      length = len(self.goal.target.region.cloud.fields)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.target.region.cloud.fields:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
      _x = self
      buff.write(_struct_B2I.pack(_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step))
      _x = self.goal.target.region.cloud.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.goal.target.region.cloud.is_dense))
      length = len(self.goal.target.region.mask)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.goal.target.region.mask.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs))
      _x = self.goal.target.region.image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.image.height, _x.goal.target.region.image.width))
      _x = self.goal.target.region.image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step))
      _x = self.goal.target.region.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs))
      _x = self.goal.target.region.disparity_image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width))
      _x = self.goal.target.region.disparity_image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step))
      _x = self.goal.target.region.disparity_image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs))
      _x = self.goal.target.region.cam_info.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width))
      _x = self.goal.target.region.cam_info.distortion_model
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.target.region.cam_info.D)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.target.region.cam_info.D.tostring())
      buff.write(self.goal.target.region.cam_info.K.tostring())
      buff.write(self.goal.target.region.cam_info.R.tostring())
      buff.write(self.goal.target.region.cam_info.P.tostring())
      _x = self
      buff.write(_struct_6IB3I.pack(_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs))
      _x = self.goal.target.region.roi_box_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_10d.pack(_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z))
      _x = self.goal.target.collision_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasps_to_evaluate)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasps_to_evaluate:
        _v157 = val1.pre_grasp_posture
        _v158 = _v157.header
        buff.write(_struct_I.pack(_v158.seq))
        _v159 = _v158.stamp
        _x = _v159
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v158.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(_v157.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v157.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(_v157.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v157.position.tostring())
        length = len(_v157.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v157.velocity.tostring())
        length = len(_v157.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v157.effort.tostring())
        _v160 = val1.grasp_posture
        _v161 = _v160.header
        buff.write(_struct_I.pack(_v161.seq))
        _v162 = _v161.stamp
        _x = _v162
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v161.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(_v160.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v160.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(_v160.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v160.position.tostring())
        length = len(_v160.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v160.velocity.tostring())
        length = len(_v160.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v160.effort.tostring())
        _v163 = val1.grasp_pose
        _v164 = _v163.position
        _x = _v164
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v165 = _v163.orientation
        _x = _v165
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v166 = val3.pose
            _v167 = _v166.header
            buff.write(_struct_I.pack(_v167.seq))
            _v168 = _v167.stamp
            _x = _v168
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v167.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))
            _v169 = _v166.pose
            _v170 = _v169.position
            _x = _v170
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v171 = _v169.orientation
            _x = _v171
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v172 = val2.cluster
          _v173 = _v172.header
          buff.write(_struct_I.pack(_v173.seq))
          _v174 = _v173.stamp
          _x = _v174
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v173.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(_v172.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v172.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v172.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v172.channels:
            _x = val4.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(val4.values.tostring())
          _v175 = val2.region
          _v176 = _v175.cloud
          _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))
          _x = _v176
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v176.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v176.fields:
            _x = val5.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v176
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v176.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(_v176.is_dense))
          length = len(_v175.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(_v175.mask.tostring())
          _v179 = _v175.image
          _v180 = _v179.header
          buff.write(_struct_I.pack(_v180.seq))
          _v181 = _v180.stamp
          _x = _v181
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v180.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 = _v179
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v179.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 = _v179
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v179.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))
          _v182 = _v175.disparity_image
          _v183 = _v182.header
          buff.write(_struct_I.pack(_v183.seq))
          _v184 = _v183.stamp
          _x = _v184
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v183.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 = _v182
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v182.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 = _v182
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v182.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))
          _v185 = _v175.cam_info
          _v186 = _v185.header
          buff.write(_struct_I.pack(_v186.seq))
          _v187 = _v186.stamp
          _x = _v187
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v186.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 = _v185
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v185.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(_v185.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(_v185.D.tostring())
          buff.write(_v185.K.tostring())
          buff.write(_v185.R.tostring())
          buff.write(_v185.P.tostring())
          _x = _v185
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v188 = _v185.roi
          _x = _v188
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v189 = _v175.roi_box_pose
          _v190 = _v189.header
          buff.write(_struct_I.pack(_v190.seq))
          _v191 = _v190.stamp
          _x = _v191
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v190.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))
          _v192 = _v189.pose
          _v193 = _v192.position
          _x = _v193
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v194 = _v192.orientation
          _x = _v194
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v195 = _v175.roi_box_dims
          _x = _v195
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.movable_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.movable_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v196 = val2.pose
          _v197 = _v196.header
          buff.write(_struct_I.pack(_v197.seq))
          _v198 = _v197.stamp
          _x = _v198
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v197.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))
          _v199 = _v196.pose
          _v200 = _v199.position
          _x = _v200
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v201 = _v199.orientation
          _x = _v201
          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))
        _v202 = val1.cluster
        _v203 = _v202.header
        buff.write(_struct_I.pack(_v203.seq))
        _v204 = _v203.stamp
        _x = _v204
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v203.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v202.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v202.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v202.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v202.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())
        _v205 = val1.region
        _v206 = _v205.cloud
        _v207 = _v206.header
        buff.write(_struct_I.pack(_v207.seq))
        _v208 = _v207.stamp
        _x = _v208
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v207.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 = _v206
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v206.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v206.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 = _v206
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v206.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(_v206.is_dense))
        length = len(_v205.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v205.mask.tostring())
        _v209 = _v205.image
        _v210 = _v209.header
        buff.write(_struct_I.pack(_v210.seq))
        _v211 = _v210.stamp
        _x = _v211
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v210.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 = _v209
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v209.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 = _v209
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v209.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))
        _v212 = _v205.disparity_image
        _v213 = _v212.header
        buff.write(_struct_I.pack(_v213.seq))
        _v214 = _v213.stamp
        _x = _v214
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v213.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 = _v212
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v212.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 = _v212
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v212.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))
        _v215 = _v205.cam_info
        _v216 = _v215.header
        buff.write(_struct_I.pack(_v216.seq))
        _v217 = _v216.stamp
        _x = _v217
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v216.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 = _v215
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v215.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(_v215.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v215.D.tostring())
        buff.write(_v215.K.tostring())
        buff.write(_v215.R.tostring())
        buff.write(_v215.P.tostring())
        _x = _v215
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v218 = _v215.roi
        _x = _v218
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v219 = _v205.roi_box_pose
        _v220 = _v219.header
        buff.write(_struct_I.pack(_v220.seq))
        _v221 = _v220.stamp
        _x = _v221
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v220.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))
        _v222 = _v219.pose
        _v223 = _v222.position
        _x = _v223
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v224 = _v222.orientation
        _x = _v224
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v225 = _v205.roi_box_dims
        _x = _v225
        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))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.GraspPlanningGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.reference_frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.reference_frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.potential_models = []
      for i in range(0, length):
        val1 = household_objects_database_msgs.msg.DatabaseModelPose()
        start = end
        end += 4
        (val1.model_id,) = _struct_i.unpack(str[start:end])
        _v226 = val1.pose
        _v227 = _v226.header
        start = end
        end += 4
        (_v227.seq,) = _struct_I.unpack(str[start:end])
        _v228 = _v227.stamp
        _x = _v228
        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:
          _v227.frame_id = str[start:end].decode('utf-8')
        else:
          _v227.frame_id = str[start:end]
        _v229 = _v226.pose
        _v230 = _v229.position
        _x = _v230
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v231 = _v229.orientation
        _x = _v231
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (val1.confidence,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.detector_name = str[start:end].decode('utf-8')
        else:
          val1.detector_name = str[start:end]
        self.goal.target.potential_models.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.cluster.header.seq, _x.goal.target.cluster.header.stamp.secs, _x.goal.target.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.cluster.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.cluster.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.cluster.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.goal.target.cluster.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.cluster.channels = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.goal.target.cluster.channels.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cloud.header.seq, _x.goal.target.region.cloud.header.stamp.secs, _x.goal.target.region.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cloud.height, _x.goal.target.region.cloud.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.target.region.cloud.fields = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointField()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
        self.goal.target.region.cloud.fields.append(val1)
      _x = self
      start = end
      end += 9
      (_x.goal.target.region.cloud.is_bigendian, _x.goal.target.region.cloud.point_step, _x.goal.target.region.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
      self.goal.target.region.cloud.is_bigendian = bool(self.goal.target.region.cloud.is_bigendian)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cloud.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cloud.data = str[start:end]
      start = end
      end += 1
      (self.goal.target.region.cloud.is_dense,) = _struct_B.unpack(str[start:end])
      self.goal.target.region.cloud.is_dense = bool(self.goal.target.region.cloud.is_dense)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.target.region.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.image.header.seq, _x.goal.target.region.image.header.stamp.secs, _x.goal.target.region.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.image.height, _x.goal.target.region.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.image.is_bigendian, _x.goal.target.region.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.disparity_image.header.seq, _x.goal.target.region.disparity_image.header.stamp.secs, _x.goal.target.region.disparity_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.disparity_image.height, _x.goal.target.region.disparity_image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.encoding = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.goal.target.region.disparity_image.is_bigendian, _x.goal.target.region.disparity_image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.disparity_image.data = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.disparity_image.data = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.target.region.cam_info.header.seq, _x.goal.target.region.cam_info.header.stamp.secs, _x.goal.target.region.cam_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cam_info.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal.target.region.cam_info.height, _x.goal.target.region.cam_info.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.cam_info.distortion_model = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.cam_info.distortion_model = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.target.region.cam_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 72
      self.goal.target.region.cam_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 72
      self.goal.target.region.cam_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
      start = end
      end += 96
      self.goal.target.region.cam_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
      _x = self
      start = end
      end += 37
      (_x.goal.target.region.cam_info.binning_x, _x.goal.target.region.cam_info.binning_y, _x.goal.target.region.cam_info.roi.x_offset, _x.goal.target.region.cam_info.roi.y_offset, _x.goal.target.region.cam_info.roi.height, _x.goal.target.region.cam_info.roi.width, _x.goal.target.region.cam_info.roi.do_rectify, _x.goal.target.region.roi_box_pose.header.seq, _x.goal.target.region.roi_box_pose.header.stamp.secs, _x.goal.target.region.roi_box_pose.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
      self.goal.target.region.cam_info.roi.do_rectify = bool(self.goal.target.region.cam_info.roi.do_rectify)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.target.region.roi_box_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 80
      (_x.goal.target.region.roi_box_pose.pose.position.x, _x.goal.target.region.roi_box_pose.pose.position.y, _x.goal.target.region.roi_box_pose.pose.position.z, _x.goal.target.region.roi_box_pose.pose.orientation.x, _x.goal.target.region.roi_box_pose.pose.orientation.y, _x.goal.target.region.roi_box_pose.pose.orientation.z, _x.goal.target.region.roi_box_pose.pose.orientation.w, _x.goal.target.region.roi_box_dims.x, _x.goal.target.region.roi_box_dims.y, _x.goal.target.region.roi_box_dims.z,) = _struct_10d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.target.collision_name = str[start:end].decode('utf-8')
      else:
        self.goal.target.collision_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasps_to_evaluate = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v232 = val1.pre_grasp_posture
        _v233 = _v232.header
        start = end
        end += 4
        (_v233.seq,) = _struct_I.unpack(str[start:end])
        _v234 = _v233.stamp
        _x = _v234
        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:
          _v233.frame_id = str[start:end].decode('utf-8')
        else:
          _v233.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v232.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]
          _v232.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v232.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)
        _v232.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)
        _v232.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v235 = val1.grasp_posture
        _v236 = _v235.header
        start = end
        end += 4
        (_v236.seq,) = _struct_I.unpack(str[start:end])
        _v237 = _v236.stamp
        _x = _v237
        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:
          _v236.frame_id = str[start:end].decode('utf-8')
        else:
          _v236.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v235.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]
          _v235.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v235.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)
        _v235.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)
        _v235.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v238 = val1.grasp_pose
        _v239 = _v238.position
        _x = _v239
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v240 = _v238.orientation
        _x = _v240
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v241 = val3.pose
            _v242 = _v241.header
            start = end
            end += 4
            (_v242.seq,) = _struct_I.unpack(str[start:end])
            _v243 = _v242.stamp
            _x = _v243
            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:
              _v242.frame_id = str[start:end].decode('utf-8')
            else:
              _v242.frame_id = str[start:end]
            _v244 = _v241.pose
            _v245 = _v244.position
            _x = _v245
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v246 = _v244.orientation
            _x = _v246
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v247 = val2.cluster
          _v248 = _v247.header
          start = end
          end += 4
          (_v248.seq,) = _struct_I.unpack(str[start:end])
          _v249 = _v248.stamp
          _x = _v249
          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:
            _v248.frame_id = str[start:end].decode('utf-8')
          else:
            _v248.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v247.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v247.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v247.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
            _v247.channels.append(val4)
          _v250 = val2.region
          _v251 = _v250.cloud
          _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]
          _x = _v251
          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])
          _v251.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v251.fields.append(val5)
          _x = _v251
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v251.is_bigendian = bool(_v251.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v251.data = str[start:end].decode('utf-8')
          else:
            _v251.data = str[start:end]
          start = end
          end += 1
          (_v251.is_dense,) = _struct_B.unpack(str[start:end])
          _v251.is_dense = bool(_v251.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v250.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          _v254 = _v250.image
          _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]
          _x = _v254
          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:
            _v254.encoding = str[start:end].decode('utf-8')
          else:
            _v254.encoding = str[start:end]
          _x = _v254
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v254.data = str[start:end].decode('utf-8')
          else:
            _v254.data = str[start:end]
          _v257 = _v250.disparity_image
          _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]
          _x = _v257
          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:
            _v257.encoding = str[start:end].decode('utf-8')
          else:
            _v257.encoding = str[start:end]
          _x = _v257
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v257.data = str[start:end].decode('utf-8')
          else:
            _v257.data = str[start:end]
          _v260 = _v250.cam_info
          _v261 = _v260.header
          start = end
          end += 4
          (_v261.seq,) = _struct_I.unpack(str[start:end])
          _v262 = _v261.stamp
          _x = _v262
          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:
            _v261.frame_id = str[start:end].decode('utf-8')
          else:
            _v261.frame_id = str[start:end]
          _x = _v260
          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:
            _v260.distortion_model = str[start:end].decode('utf-8')
          else:
            _v260.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)
          _v260.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 72
          _v260.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 72
          _v260.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 96
          _v260.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
          _x = _v260
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v263 = _v260.roi
          _x = _v263
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v263.do_rectify = bool(_v263.do_rectify)
          _v264 = _v250.roi_box_pose
          _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.pose
          _v268 = _v267.position
          _x = _v268
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v269 = _v267.orientation
          _x = _v269
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v270 = _v250.roi_box_dims
          _x = _v270
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.goal.grasps_to_evaluate.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.movable_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v271 = val2.pose
          _v272 = _v271.header
          start = end
          end += 4
          (_v272.seq,) = _struct_I.unpack(str[start:end])
          _v273 = _v272.stamp
          _x = _v273
          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:
            _v272.frame_id = str[start:end].decode('utf-8')
          else:
            _v272.frame_id = str[start:end]
          _v274 = _v271.pose
          _v275 = _v274.position
          _x = _v275
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v276 = _v274.orientation
          _x = _v276
          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)
        _v277 = val1.cluster
        _v278 = _v277.header
        start = end
        end += 4
        (_v278.seq,) = _struct_I.unpack(str[start:end])
        _v279 = _v278.stamp
        _x = _v279
        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:
          _v278.frame_id = str[start:end].decode('utf-8')
        else:
          _v278.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v277.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])
          _v277.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v277.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)
          _v277.channels.append(val3)
        _v280 = val1.region
        _v281 = _v280.cloud
        _v282 = _v281.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]
        _x = _v281
        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])
        _v281.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])
          _v281.fields.append(val4)
        _x = _v281
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v281.is_bigendian = bool(_v281.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v281.data = str[start:end].decode('utf-8')
        else:
          _v281.data = str[start:end]
        start = end
        end += 1
        (_v281.is_dense,) = _struct_B.unpack(str[start:end])
        _v281.is_dense = bool(_v281.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v280.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v284 = _v280.image
        _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]
        _x = _v284
        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:
          _v284.encoding = str[start:end].decode('utf-8')
        else:
          _v284.encoding = str[start:end]
        _x = _v284
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v284.data = str[start:end].decode('utf-8')
        else:
          _v284.data = str[start:end]
        _v287 = _v280.disparity_image
        _v288 = _v287.header
        start = end
        end += 4
        (_v288.seq,) = _struct_I.unpack(str[start:end])
        _v289 = _v288.stamp
        _x = _v289
        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:
          _v288.frame_id = str[start:end].decode('utf-8')
        else:
          _v288.frame_id = str[start:end]
        _x = _v287
        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:
          _v287.encoding = str[start:end].decode('utf-8')
        else:
          _v287.encoding = str[start:end]
        _x = _v287
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v287.data = str[start:end].decode('utf-8')
        else:
          _v287.data = str[start:end]
        _v290 = _v280.cam_info
        _v291 = _v290.header
        start = end
        end += 4
        (_v291.seq,) = _struct_I.unpack(str[start:end])
        _v292 = _v291.stamp
        _x = _v292
        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:
          _v291.frame_id = str[start:end].decode('utf-8')
        else:
          _v291.frame_id = str[start:end]
        _x = _v290
        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:
          _v290.distortion_model = str[start:end].decode('utf-8')
        else:
          _v290.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)
        _v290.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v290.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v290.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v290.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v290
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v293 = _v290.roi
        _x = _v293
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v293.do_rectify = bool(_v293.do_rectify)
        _v294 = _v280.roi_box_pose
        _v295 = _v294.header
        start = end
        end += 4
        (_v295.seq,) = _struct_I.unpack(str[start:end])
        _v296 = _v295.stamp
        _x = _v296
        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:
          _v295.frame_id = str[start:end].decode('utf-8')
        else:
          _v295.frame_id = str[start:end]
        _v297 = _v294.pose
        _v298 = _v297.position
        _x = _v298
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v299 = _v297.orientation
        _x = _v299
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v300 = _v280.roi_box_dims
        _x = _v300
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.movable_obstacles.append(val1)
      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_6IB3I = struct.Struct("<6IB3I")
_struct_B = struct.Struct("<B")
_struct_12d = struct.Struct("<12d")
_struct_f = struct.Struct("<f")
_struct_i = struct.Struct("<i")
_struct_dB2f = struct.Struct("<dB2f")
_struct_BI = struct.Struct("<BI")
_struct_10d = struct.Struct("<10d")
_struct_3f = struct.Struct("<3f")
_struct_3I = struct.Struct("<3I")
_struct_9d = struct.Struct("<9d")
_struct_B2I = struct.Struct("<B2I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_4IB = struct.Struct("<4IB")
_struct_3d = struct.Struct("<3d")