_PR2GripperFindContactAction.py

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"""autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperFindContactAction.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import genpy
import actionlib_msgs.msg
import pr2_gripper_sensor_msgs.msg
import std_msgs.msg

class PR2GripperFindContactAction(genpy.Message):
  _md5sum = "99ab2df1bbde46c447b38f28b7896d16"
  _type = "pr2_gripper_sensor_msgs/PR2GripperFindContactAction"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PR2GripperFindContactActionGoal action_goal
PR2GripperFindContactActionResult action_result
PR2GripperFindContactActionFeedback action_feedback

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
PR2GripperFindContactGoal 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: pr2_gripper_sensor_msgs/PR2GripperFindContactGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Contact action used to close fingers and find object contacts 
# quickly while still stopping fast in real-time to not damage 
# objects

#goal
PR2GripperFindContactCommand command

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand
# set true if you want to calibrate the fingertip sensors on the start
# of the find_contact action. While this is not necessary (and
# the default value will not calibrate the sensors) for best 
# performance it is recommended that you set this to true each time 
# you are calling find_contact and are confident the fingertips are 
# not touching anything
# NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING
bool zero_fingertip_sensors

# the finger contact conditions that determine what our goal is
# Leaving this field blank will result in the robot closing until
# contact on BOTH fingers is achieved
int8 contact_conditions

# predefined values for the above contact_conditions variable
int8 BOTH = 0   # both fingers must make contact
int8 LEFT = 1   # just the left finger 
int8 RIGHT = 2  # just the right finger
int8 EITHER = 3 # either finger, we don't care which

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PR2GripperFindContactResult result

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

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


================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
#results
PR2GripperFindContactData data

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData
# Time the data was recorded at
time stamp

# true when our contact conditions have been met
# (see PR2GripperFindContact command)
bool contact_conditions_met

# the finger contact conditions 
# true if the finger experienced a contact event
#
# contact events are defined as contact with the fingerpads
# as either steady-state or high-freq force events
bool left_fingertip_pad_contact
bool right_fingertip_pad_contact

# the force experinced by the finger Pads  (N)
# NOTE:this ignores data from the edges of the finger pressure
float64 left_fingertip_pad_force
float64 right_fingertip_pad_force

# the current joint position (m)
float64 joint_position

# the virtual (parallel) joint effort (N)
float64 joint_effort

# the control state of our realtime controller
PR2GripperSensorRTState rtstate
================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
# the control state of our realtime controller
int8 realtime_controller_state

# predefined values to indicate our realtime_controller_state
int8 DISABLED = 0
int8 POSITION_SERVO = 3
int8 FORCE_SERVO = 4
int8 FIND_CONTACT = 5
int8 SLIP_SERVO = 6
================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PR2GripperFindContactFeedback feedback

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# feedback
PR2GripperFindContactData data



"""
  __slots__ = ['action_goal','action_result','action_feedback']
  _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal','pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult','pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback']

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

    The available fields are:
       action_goal,action_result,action_feedback

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PR2GripperFindContactAction, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.action_goal is None:
        self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
      if self.action_result is None:
        self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
      if self.action_feedback is None:
        self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
    else:
      self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
      self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
      self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_Bb3I.pack(_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I3B4db3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I3B4db.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
    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.action_goal is None:
        self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
      if self.action_result is None:
        self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
      if self.action_feedback is None:
        self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal_id.id = str[start:end]
      _x = self
      start = end
      end += 14
      (_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_Bb3I.unpack(str[start:end])
      self.action_goal.goal.command.zero_fingertip_sensors = bool(self.action_goal.goal.command.zero_fingertip_sensors)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8')
      else:
        self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 56
      (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3B4db3I.unpack(str[start:end])
      self.action_result.result.data.contact_conditions_met = bool(self.action_result.result.data.contact_conditions_met)
      self.action_result.result.data.left_fingertip_pad_contact = bool(self.action_result.result.data.left_fingertip_pad_contact)
      self.action_result.result.data.right_fingertip_pad_contact = bool(self.action_result.result.data.right_fingertip_pad_contact)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.text = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
      self.action_feedback.feedback.data.contact_conditions_met = bool(self.action_feedback.feedback.data.contact_conditions_met)
      self.action_feedback.feedback.data.left_fingertip_pad_contact = bool(self.action_feedback.feedback.data.left_fingertip_pad_contact)
      self.action_feedback.feedback.data.right_fingertip_pad_contact = bool(self.action_feedback.feedback.data.right_fingertip_pad_contact)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_Bb3I.pack(_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I3B4db3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I3B4db.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
    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.action_goal is None:
        self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
      if self.action_result is None:
        self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
      if self.action_feedback is None:
        self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_goal.goal_id.id = str[start:end]
      _x = self
      start = end
      end += 14
      (_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_Bb3I.unpack(str[start:end])
      self.action_goal.goal.command.zero_fingertip_sensors = bool(self.action_goal.goal.command.zero_fingertip_sensors)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8')
      else:
        self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 56
      (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3B4db3I.unpack(str[start:end])
      self.action_result.result.data.contact_conditions_met = bool(self.action_result.result.data.contact_conditions_met)
      self.action_result.result.data.left_fingertip_pad_contact = bool(self.action_result.result.data.left_fingertip_pad_contact)
      self.action_result.result.data.right_fingertip_pad_contact = bool(self.action_result.result.data.right_fingertip_pad_contact)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8')
      else:
        self.action_feedback.status.text = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
      self.action_feedback.feedback.data.contact_conditions_met = bool(self.action_feedback.feedback.data.contact_conditions_met)
      self.action_feedback.feedback.data.left_fingertip_pad_contact = bool(self.action_feedback.feedback.data.left_fingertip_pad_contact)
      self.action_feedback.feedback.data.right_fingertip_pad_contact = bool(self.action_feedback.feedback.data.right_fingertip_pad_contact)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
_struct_2I3B4db = struct.Struct("<2I3B4db")
_struct_Bb3I = struct.Struct("<Bb3I")
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_2I3B4db3I = struct.Struct("<2I3B4db3I")