_MoveArmActionGoal.py
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00001 """autogenerated by genpy from arm_navigation_msgs/MoveArmActionGoal.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 import arm_navigation_msgs.msg
00008 import actionlib_msgs.msg
00009 import geometry_msgs.msg
00010 import sensor_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013 
00014 class MoveArmActionGoal(genpy.Message):
00015   _md5sum = "d560cc046d6b5e8bf3f70a960054d6c6"
00016   _type = "arm_navigation_msgs/MoveArmActionGoal"
00017   _has_header = True #flag to mark the presence of a Header object
00018   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00019 
00020 Header header
00021 actionlib_msgs/GoalID goal_id
00022 MoveArmGoal goal
00023 
00024 ================================================================================
00025 MSG: std_msgs/Header
00026 # Standard metadata for higher-level stamped data types.
00027 # This is generally used to communicate timestamped data 
00028 # in a particular coordinate frame.
00029 # 
00030 # sequence ID: consecutively increasing ID 
00031 uint32 seq
00032 #Two-integer timestamp that is expressed as:
00033 # * stamp.secs: seconds (stamp_secs) since epoch
00034 # * stamp.nsecs: nanoseconds since stamp_secs
00035 # time-handling sugar is provided by the client library
00036 time stamp
00037 #Frame this data is associated with
00038 # 0: no frame
00039 # 1: global frame
00040 string frame_id
00041 
00042 ================================================================================
00043 MSG: actionlib_msgs/GoalID
00044 # The stamp should store the time at which this goal was requested.
00045 # It is used by an action server when it tries to preempt all
00046 # goals that were requested before a certain time
00047 time stamp
00048 
00049 # The id provides a way to associate feedback and
00050 # result message with specific goal requests. The id
00051 # specified must be unique.
00052 string id
00053 
00054 
00055 ================================================================================
00056 MSG: arm_navigation_msgs/MoveArmGoal
00057 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00058 # Service name to call for getting a motion plan
00059 # Move arm will call a service on this service name 
00060 # using the MotionPlanRequest specified here
00061 string planner_service_name
00062 
00063 # A planning scene diff
00064 PlanningScene planning_scene_diff
00065 
00066 # A motion planning request
00067 MotionPlanRequest motion_plan_request
00068 
00069 # OPTIONAL: Diff uses ordered collision operations in addition to allowed_collision_matrix
00070 arm_navigation_msgs/OrderedCollisionOperations operations
00071 
00072 # OPTIONAL flag
00073 # Setting this flag to true will allow move_arm to accept plans that do not go all the way to the goal
00074 bool accept_partial_plans
00075 
00076 # OPTIONAL flag
00077 # Setting this flag to true will allow move_arm to accept invalid goals
00078 # This is useful if you are using a planner like CHOMP along with a noisy rapidly changing collision map
00079 # and you would like to plan to a goal near an object.
00080 bool accept_invalid_goals
00081 
00082 # OPTIONAL flag
00083 # Setting this flag to true will disable the call to IK for a pose goal
00084 bool disable_ik
00085 
00086 # OPTIONAL flag
00087 # Setting this flag to true will disable collision monitoring during execution of a trajectory
00088 bool disable_collision_monitoring
00089 
00090 ================================================================================
00091 MSG: arm_navigation_msgs/PlanningScene
00092 #full robot state
00093 arm_navigation_msgs/RobotState robot_state
00094 
00095 #additional frames for duplicating tf
00096 geometry_msgs/TransformStamped[] fixed_frame_transforms
00097 
00098 #full allowed collision matrix
00099 AllowedCollisionMatrix allowed_collision_matrix
00100 
00101 #allowed contacts
00102 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts
00103 
00104 #all link paddings
00105 arm_navigation_msgs/LinkPadding[] link_padding
00106 
00107 #collision objects
00108 arm_navigation_msgs/CollisionObject[] collision_objects
00109 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects
00110 
00111 #the collision map
00112 arm_navigation_msgs/CollisionMap collision_map
00113 
00114 ================================================================================
00115 MSG: arm_navigation_msgs/RobotState
00116 # This message contains information about the robot state, i.e. the positions of its joints and links
00117 sensor_msgs/JointState joint_state
00118 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00119 
00120 ================================================================================
00121 MSG: sensor_msgs/JointState
00122 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00123 #
00124 # The state of each joint (revolute or prismatic) is defined by:
00125 #  * the position of the joint (rad or m),
00126 #  * the velocity of the joint (rad/s or m/s) and 
00127 #  * the effort that is applied in the joint (Nm or N).
00128 #
00129 # Each joint is uniquely identified by its name
00130 # The header specifies the time at which the joint states were recorded. All the joint states
00131 # in one message have to be recorded at the same time.
00132 #
00133 # This message consists of a multiple arrays, one for each part of the joint state. 
00134 # The goal is to make each of the fields optional. When e.g. your joints have no
00135 # effort associated with them, you can leave the effort array empty. 
00136 #
00137 # All arrays in this message should have the same size, or be empty.
00138 # This is the only way to uniquely associate the joint name with the correct
00139 # states.
00140 
00141 
00142 Header header
00143 
00144 string[] name
00145 float64[] position
00146 float64[] velocity
00147 float64[] effort
00148 
00149 ================================================================================
00150 MSG: arm_navigation_msgs/MultiDOFJointState
00151 #A representation of a multi-dof joint state
00152 time stamp
00153 string[] joint_names
00154 string[] frame_ids
00155 string[] child_frame_ids
00156 geometry_msgs/Pose[] poses
00157 
00158 ================================================================================
00159 MSG: geometry_msgs/Pose
00160 # A representation of pose in free space, composed of postion and orientation. 
00161 Point position
00162 Quaternion orientation
00163 
00164 ================================================================================
00165 MSG: geometry_msgs/Point
00166 # This contains the position of a point in free space
00167 float64 x
00168 float64 y
00169 float64 z
00170 
00171 ================================================================================
00172 MSG: geometry_msgs/Quaternion
00173 # This represents an orientation in free space in quaternion form.
00174 
00175 float64 x
00176 float64 y
00177 float64 z
00178 float64 w
00179 
00180 ================================================================================
00181 MSG: geometry_msgs/TransformStamped
00182 # This expresses a transform from coordinate frame header.frame_id
00183 # to the coordinate frame child_frame_id
00184 #
00185 # This message is mostly used by the 
00186 # <a href="http://www.ros.org/wiki/tf">tf</a> package. 
00187 # See its documentation for more information.
00188 
00189 Header header
00190 string child_frame_id # the frame id of the child frame
00191 Transform transform
00192 
00193 ================================================================================
00194 MSG: geometry_msgs/Transform
00195 # This represents the transform between two coordinate frames in free space.
00196 
00197 Vector3 translation
00198 Quaternion rotation
00199 
00200 ================================================================================
00201 MSG: geometry_msgs/Vector3
00202 # This represents a vector in free space. 
00203 
00204 float64 x
00205 float64 y
00206 float64 z
00207 ================================================================================
00208 MSG: arm_navigation_msgs/AllowedCollisionMatrix
00209 # the list of link names in the matrix
00210 string[] link_names
00211 
00212 # the individual entries in the allowed collision matrix
00213 # symmetric, with same order as link_names
00214 AllowedCollisionEntry[] entries
00215 
00216 ================================================================================
00217 MSG: arm_navigation_msgs/AllowedCollisionEntry
00218 # whether or not collision checking is enabled
00219 bool[] enabled
00220 
00221 ================================================================================
00222 MSG: arm_navigation_msgs/AllowedContactSpecification
00223 # The names of the regions
00224 string name
00225 
00226 # The shape of the region in the environment
00227 arm_navigation_msgs/Shape shape
00228 
00229 # The pose of the space defining the region
00230 geometry_msgs/PoseStamped pose_stamped
00231 
00232 # The set of links that will be allowed to have penetration contact within this region
00233 string[] link_names
00234 
00235 # The maximum penetration depth allowed for every link
00236 float64 penetration_depth
00237 
00238 ================================================================================
00239 MSG: arm_navigation_msgs/Shape
00240 byte SPHERE=0
00241 byte BOX=1
00242 byte CYLINDER=2
00243 byte MESH=3
00244 
00245 byte type
00246 
00247 
00248 #### define sphere, box, cylinder ####
00249 # the origin of each shape is considered at the shape's center
00250 
00251 # for sphere
00252 # radius := dimensions[0]
00253 
00254 # for cylinder
00255 # radius := dimensions[0]
00256 # length := dimensions[1]
00257 # the length is along the Z axis
00258 
00259 # for box
00260 # size_x := dimensions[0]
00261 # size_y := dimensions[1]
00262 # size_z := dimensions[2]
00263 float64[] dimensions
00264 
00265 
00266 #### define mesh ####
00267 
00268 # list of triangles; triangle k is defined by tre vertices located
00269 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00270 int32[] triangles
00271 geometry_msgs/Point[] vertices
00272 
00273 ================================================================================
00274 MSG: geometry_msgs/PoseStamped
00275 # A Pose with reference coordinate frame and timestamp
00276 Header header
00277 Pose pose
00278 
00279 ================================================================================
00280 MSG: arm_navigation_msgs/LinkPadding
00281 #name for the link
00282 string link_name
00283 
00284 # padding to apply to the link
00285 float64 padding
00286 
00287 ================================================================================
00288 MSG: arm_navigation_msgs/CollisionObject
00289 # a header, used for interpreting the poses
00290 Header header
00291 
00292 # the id of the object
00293 string id
00294 
00295 # The padding used for filtering points near the object.
00296 # This does not affect collision checking for the object.  
00297 # Set to negative to get zero padding.
00298 float32 padding
00299 
00300 #This contains what is to be done with the object
00301 CollisionObjectOperation operation
00302 
00303 #the shapes associated with the object
00304 arm_navigation_msgs/Shape[] shapes
00305 
00306 #the poses associated with the shapes - will be transformed using the header
00307 geometry_msgs/Pose[] poses
00308 
00309 ================================================================================
00310 MSG: arm_navigation_msgs/CollisionObjectOperation
00311 #Puts the object into the environment
00312 #or updates the object if already added
00313 byte ADD=0
00314 
00315 #Removes the object from the environment entirely
00316 byte REMOVE=1
00317 
00318 #Only valid within the context of a CollisionAttachedObject message
00319 #Will be ignored if sent with an CollisionObject message
00320 #Takes an attached object, detaches from the attached link
00321 #But adds back in as regular object
00322 byte DETACH_AND_ADD_AS_OBJECT=2
00323 
00324 #Only valid within the context of a CollisionAttachedObject message
00325 #Will be ignored if sent with an CollisionObject message
00326 #Takes current object in the environment and removes it as
00327 #a regular object
00328 byte ATTACH_AND_REMOVE_AS_OBJECT=3
00329 
00330 # Byte code for operation
00331 byte operation
00332 
00333 ================================================================================
00334 MSG: arm_navigation_msgs/AttachedCollisionObject
00335 # The CollisionObject will be attached with a fixed joint to this link
00336 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation 
00337 # is set to REMOVE will remove all attached bodies attached to any object
00338 string link_name
00339 
00340 #Reserved for indicating that all attached objects should be removed
00341 string REMOVE_ALL_ATTACHED_OBJECTS = "all"
00342 
00343 #This contains the actual shapes and poses for the CollisionObject
00344 #to be attached to the link
00345 #If action is remove and no object.id is set, all objects
00346 #attached to the link indicated by link_name will be removed
00347 CollisionObject object
00348 
00349 # The set of links that the attached objects are allowed to touch
00350 # by default - the link_name is included by default
00351 string[] touch_links
00352 
00353 ================================================================================
00354 MSG: arm_navigation_msgs/CollisionMap
00355 #header for interpreting box positions
00356 Header header
00357 
00358 #boxes for use in collision testing
00359 OrientedBoundingBox[] boxes
00360 
00361 ================================================================================
00362 MSG: arm_navigation_msgs/OrientedBoundingBox
00363 #the center of the box
00364 geometry_msgs/Point32 center
00365 
00366 #the extents of the box, assuming the center is at the point
00367 geometry_msgs/Point32 extents
00368 
00369 #the axis of the box
00370 geometry_msgs/Point32 axis
00371 
00372 #the angle of rotation around the axis
00373 float32 angle
00374 
00375 ================================================================================
00376 MSG: geometry_msgs/Point32
00377 # This contains the position of a point in free space(with 32 bits of precision).
00378 # It is recommeded to use Point wherever possible instead of Point32.  
00379 # 
00380 # This recommendation is to promote interoperability.  
00381 #
00382 # This message is designed to take up less space when sending
00383 # lots of points at once, as in the case of a PointCloud.  
00384 
00385 float32 x
00386 float32 y
00387 float32 z
00388 ================================================================================
00389 MSG: arm_navigation_msgs/MotionPlanRequest
00390 # This service contains the definition for a request to the motion
00391 # planner and the output it provides
00392 
00393 # Parameters for the workspace that the planner should work inside
00394 arm_navigation_msgs/WorkspaceParameters workspace_parameters
00395 
00396 # Starting state updates. If certain joints should be considered
00397 # at positions other than the current ones, these positions should
00398 # be set here
00399 arm_navigation_msgs/RobotState start_state
00400 
00401 # The goal state for the model to plan for. The goal is achieved
00402 # if all constraints are satisfied
00403 arm_navigation_msgs/Constraints goal_constraints
00404 
00405 # No state at any point along the path in the produced motion plan will violate these constraints
00406 arm_navigation_msgs/Constraints path_constraints
00407 
00408 # The name of the motion planner to use. If no name is specified,
00409 # a default motion planner will be used
00410 string planner_id
00411 
00412 # The name of the group of joints on which this planner is operating
00413 string group_name
00414 
00415 # The number of times this plan is to be computed. Shortest solution
00416 # will be reported.
00417 int32 num_planning_attempts
00418 
00419 # The maximum amount of time the motion planner is allowed to plan for
00420 duration allowed_planning_time
00421 
00422 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns
00423 duration expected_path_duration
00424 duration expected_path_dt
00425 
00426 ================================================================================
00427 MSG: arm_navigation_msgs/WorkspaceParameters
00428 # This message contains a set of parameters useful in
00429 # setting up the workspace for planning
00430 arm_navigation_msgs/Shape  workspace_region_shape
00431 geometry_msgs/PoseStamped    workspace_region_pose
00432 
00433 
00434 ================================================================================
00435 MSG: arm_navigation_msgs/Constraints
00436 # This message contains a list of motion planning constraints.
00437 
00438 arm_navigation_msgs/JointConstraint[] joint_constraints
00439 arm_navigation_msgs/PositionConstraint[] position_constraints
00440 arm_navigation_msgs/OrientationConstraint[] orientation_constraints
00441 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints
00442 
00443 ================================================================================
00444 MSG: arm_navigation_msgs/JointConstraint
00445 # Constrain the position of a joint to be within a certain bound
00446 string joint_name
00447 
00448 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]
00449 float64 position
00450 float64 tolerance_above
00451 float64 tolerance_below
00452 
00453 # A weighting factor for this constraint
00454 float64 weight
00455 ================================================================================
00456 MSG: arm_navigation_msgs/PositionConstraint
00457 # This message contains the definition of a position constraint.
00458 Header header
00459 
00460 # The robot link this constraint refers to
00461 string link_name
00462 
00463 # The offset (in the link frame) for the target point on the link we are planning for
00464 geometry_msgs/Point target_point_offset
00465 
00466 # The nominal/target position for the point we are planning for
00467 geometry_msgs/Point position
00468 
00469 # The shape of the bounded region that constrains the position of the end-effector
00470 # This region is always centered at the position defined above
00471 arm_navigation_msgs/Shape constraint_region_shape
00472 
00473 # The orientation of the bounded region that constrains the position of the end-effector. 
00474 # This allows the specification of non-axis aligned constraints
00475 geometry_msgs/Quaternion constraint_region_orientation
00476 
00477 # Constraint weighting factor - a weight for this constraint
00478 float64 weight
00479 
00480 ================================================================================
00481 MSG: arm_navigation_msgs/OrientationConstraint
00482 # This message contains the definition of an orientation constraint.
00483 Header header
00484 
00485 # The robot link this constraint refers to
00486 string link_name
00487 
00488 # The type of the constraint
00489 int32 type
00490 int32 LINK_FRAME=0
00491 int32 HEADER_FRAME=1
00492 
00493 # The desired orientation of the robot link specified as a quaternion
00494 geometry_msgs/Quaternion orientation
00495 
00496 # optional RPY error tolerances specified if 
00497 float64 absolute_roll_tolerance
00498 float64 absolute_pitch_tolerance
00499 float64 absolute_yaw_tolerance
00500 
00501 # Constraint weighting factor - a weight for this constraint
00502 float64 weight
00503 
00504 ================================================================================
00505 MSG: arm_navigation_msgs/VisibilityConstraint
00506 # This message contains the definition of a visibility constraint.
00507 Header header
00508 
00509 # The point stamped target that needs to be kept within view of the sensor
00510 geometry_msgs/PointStamped target
00511 
00512 # The local pose of the frame in which visibility is to be maintained
00513 # The frame id should represent the robot link to which the sensor is attached
00514 # The visual axis of the sensor is assumed to be along the X axis of this frame
00515 geometry_msgs/PoseStamped sensor_pose
00516 
00517 # The deviation (in radians) that will be tolerated
00518 # Constraint error will be measured as the solid angle between the 
00519 # X axis of the frame defined above and the vector between the origin 
00520 # of the frame defined above and the target location
00521 float64 absolute_tolerance
00522 
00523 
00524 ================================================================================
00525 MSG: geometry_msgs/PointStamped
00526 # This represents a Point with reference coordinate frame and timestamp
00527 Header header
00528 Point point
00529 
00530 ================================================================================
00531 MSG: arm_navigation_msgs/OrderedCollisionOperations
00532 # A set of collision operations that will be performed in the order they are specified
00533 CollisionOperation[] collision_operations
00534 ================================================================================
00535 MSG: arm_navigation_msgs/CollisionOperation
00536 # A definition of a collision operation
00537 # E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
00538 # between the gripper and all objects in the collision space
00539 
00540 string object1
00541 string object2
00542 string COLLISION_SET_ALL="all"
00543 string COLLISION_SET_OBJECTS="objects"
00544 string COLLISION_SET_ATTACHED_OBJECTS="attached"
00545 
00546 # The penetration distance to which collisions are allowed. This is 0.0 by default.
00547 float64 penetration_distance
00548 
00549 # Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
00550 int32 operation
00551 int32 DISABLE=0
00552 int32 ENABLE=1
00553 
00554 """
00555   __slots__ = ['header','goal_id','goal']
00556   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','arm_navigation_msgs/MoveArmGoal']
00557 
00558   def __init__(self, *args, **kwds):
00559     """
00560     Constructor. Any message fields that are implicitly/explicitly
00561     set to None will be assigned a default value. The recommend
00562     use is keyword arguments as this is more robust to future message
00563     changes.  You cannot mix in-order arguments and keyword arguments.
00564 
00565     The available fields are:
00566        header,goal_id,goal
00567 
00568     :param args: complete set of field values, in .msg order
00569     :param kwds: use keyword arguments corresponding to message field names
00570     to set specific fields.
00571     """
00572     if args or kwds:
00573       super(MoveArmActionGoal, self).__init__(*args, **kwds)
00574       #message fields cannot be None, assign default values for those that are
00575       if self.header is None:
00576         self.header = std_msgs.msg.Header()
00577       if self.goal_id is None:
00578         self.goal_id = actionlib_msgs.msg.GoalID()
00579       if self.goal is None:
00580         self.goal = arm_navigation_msgs.msg.MoveArmGoal()
00581     else:
00582       self.header = std_msgs.msg.Header()
00583       self.goal_id = actionlib_msgs.msg.GoalID()
00584       self.goal = arm_navigation_msgs.msg.MoveArmGoal()
00585 
00586   def _get_types(self):
00587     """
00588     internal API method
00589     """
00590     return self._slot_types
00591 
00592   def serialize(self, buff):
00593     """
00594     serialize message into buffer
00595     :param buff: buffer, ``StringIO``
00596     """
00597     try:
00598       _x = self
00599       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00600       _x = self.header.frame_id
00601       length = len(_x)
00602       if python3 or type(_x) == unicode:
00603         _x = _x.encode('utf-8')
00604         length = len(_x)
00605       buff.write(struct.pack('<I%ss'%length, length, _x))
00606       _x = self
00607       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00608       _x = self.goal_id.id
00609       length = len(_x)
00610       if python3 or type(_x) == unicode:
00611         _x = _x.encode('utf-8')
00612         length = len(_x)
00613       buff.write(struct.pack('<I%ss'%length, length, _x))
00614       _x = self.goal.planner_service_name
00615       length = len(_x)
00616       if python3 or type(_x) == unicode:
00617         _x = _x.encode('utf-8')
00618         length = len(_x)
00619       buff.write(struct.pack('<I%ss'%length, length, _x))
00620       _x = self
00621       buff.write(_struct_3I.pack(_x.goal.planning_scene_diff.robot_state.joint_state.header.seq, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
00622       _x = self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id
00623       length = len(_x)
00624       if python3 or type(_x) == unicode:
00625         _x = _x.encode('utf-8')
00626         length = len(_x)
00627       buff.write(struct.pack('<I%ss'%length, length, _x))
00628       length = len(self.goal.planning_scene_diff.robot_state.joint_state.name)
00629       buff.write(_struct_I.pack(length))
00630       for val1 in self.goal.planning_scene_diff.robot_state.joint_state.name:
00631         length = len(val1)
00632         if python3 or type(val1) == unicode:
00633           val1 = val1.encode('utf-8')
00634           length = len(val1)
00635         buff.write(struct.pack('<I%ss'%length, length, val1))
00636       length = len(self.goal.planning_scene_diff.robot_state.joint_state.position)
00637       buff.write(_struct_I.pack(length))
00638       pattern = '<%sd'%length
00639       buff.write(struct.pack(pattern, *self.goal.planning_scene_diff.robot_state.joint_state.position))
00640       length = len(self.goal.planning_scene_diff.robot_state.joint_state.velocity)
00641       buff.write(_struct_I.pack(length))
00642       pattern = '<%sd'%length
00643       buff.write(struct.pack(pattern, *self.goal.planning_scene_diff.robot_state.joint_state.velocity))
00644       length = len(self.goal.planning_scene_diff.robot_state.joint_state.effort)
00645       buff.write(_struct_I.pack(length))
00646       pattern = '<%sd'%length
00647       buff.write(struct.pack(pattern, *self.goal.planning_scene_diff.robot_state.joint_state.effort))
00648       _x = self
00649       buff.write(_struct_2I.pack(_x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs))
00650       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
00651       buff.write(_struct_I.pack(length))
00652       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
00653         length = len(val1)
00654         if python3 or type(val1) == unicode:
00655           val1 = val1.encode('utf-8')
00656           length = len(val1)
00657         buff.write(struct.pack('<I%ss'%length, length, val1))
00658       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids)
00659       buff.write(_struct_I.pack(length))
00660       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:
00661         length = len(val1)
00662         if python3 or type(val1) == unicode:
00663           val1 = val1.encode('utf-8')
00664           length = len(val1)
00665         buff.write(struct.pack('<I%ss'%length, length, val1))
00666       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids)
00667       buff.write(_struct_I.pack(length))
00668       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:
00669         length = len(val1)
00670         if python3 or type(val1) == unicode:
00671           val1 = val1.encode('utf-8')
00672           length = len(val1)
00673         buff.write(struct.pack('<I%ss'%length, length, val1))
00674       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses)
00675       buff.write(_struct_I.pack(length))
00676       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses:
00677         _v1 = val1.position
00678         _x = _v1
00679         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00680         _v2 = val1.orientation
00681         _x = _v2
00682         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00683       length = len(self.goal.planning_scene_diff.fixed_frame_transforms)
00684       buff.write(_struct_I.pack(length))
00685       for val1 in self.goal.planning_scene_diff.fixed_frame_transforms:
00686         _v3 = val1.header
00687         buff.write(_struct_I.pack(_v3.seq))
00688         _v4 = _v3.stamp
00689         _x = _v4
00690         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00691         _x = _v3.frame_id
00692         length = len(_x)
00693         if python3 or type(_x) == unicode:
00694           _x = _x.encode('utf-8')
00695           length = len(_x)
00696         buff.write(struct.pack('<I%ss'%length, length, _x))
00697         _x = val1.child_frame_id
00698         length = len(_x)
00699         if python3 or type(_x) == unicode:
00700           _x = _x.encode('utf-8')
00701           length = len(_x)
00702         buff.write(struct.pack('<I%ss'%length, length, _x))
00703         _v5 = val1.transform
00704         _v6 = _v5.translation
00705         _x = _v6
00706         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00707         _v7 = _v5.rotation
00708         _x = _v7
00709         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00710       length = len(self.goal.planning_scene_diff.allowed_collision_matrix.link_names)
00711       buff.write(_struct_I.pack(length))
00712       for val1 in self.goal.planning_scene_diff.allowed_collision_matrix.link_names:
00713         length = len(val1)
00714         if python3 or type(val1) == unicode:
00715           val1 = val1.encode('utf-8')
00716           length = len(val1)
00717         buff.write(struct.pack('<I%ss'%length, length, val1))
00718       length = len(self.goal.planning_scene_diff.allowed_collision_matrix.entries)
00719       buff.write(_struct_I.pack(length))
00720       for val1 in self.goal.planning_scene_diff.allowed_collision_matrix.entries:
00721         length = len(val1.enabled)
00722         buff.write(_struct_I.pack(length))
00723         pattern = '<%sB'%length
00724         buff.write(struct.pack(pattern, *val1.enabled))
00725       length = len(self.goal.planning_scene_diff.allowed_contacts)
00726       buff.write(_struct_I.pack(length))
00727       for val1 in self.goal.planning_scene_diff.allowed_contacts:
00728         _x = val1.name
00729         length = len(_x)
00730         if python3 or type(_x) == unicode:
00731           _x = _x.encode('utf-8')
00732           length = len(_x)
00733         buff.write(struct.pack('<I%ss'%length, length, _x))
00734         _v8 = val1.shape
00735         buff.write(_struct_b.pack(_v8.type))
00736         length = len(_v8.dimensions)
00737         buff.write(_struct_I.pack(length))
00738         pattern = '<%sd'%length
00739         buff.write(struct.pack(pattern, *_v8.dimensions))
00740         length = len(_v8.triangles)
00741         buff.write(_struct_I.pack(length))
00742         pattern = '<%si'%length
00743         buff.write(struct.pack(pattern, *_v8.triangles))
00744         length = len(_v8.vertices)
00745         buff.write(_struct_I.pack(length))
00746         for val3 in _v8.vertices:
00747           _x = val3
00748           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00749         _v9 = val1.pose_stamped
00750         _v10 = _v9.header
00751         buff.write(_struct_I.pack(_v10.seq))
00752         _v11 = _v10.stamp
00753         _x = _v11
00754         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00755         _x = _v10.frame_id
00756         length = len(_x)
00757         if python3 or type(_x) == unicode:
00758           _x = _x.encode('utf-8')
00759           length = len(_x)
00760         buff.write(struct.pack('<I%ss'%length, length, _x))
00761         _v12 = _v9.pose
00762         _v13 = _v12.position
00763         _x = _v13
00764         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00765         _v14 = _v12.orientation
00766         _x = _v14
00767         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00768         length = len(val1.link_names)
00769         buff.write(_struct_I.pack(length))
00770         for val2 in val1.link_names:
00771           length = len(val2)
00772           if python3 or type(val2) == unicode:
00773             val2 = val2.encode('utf-8')
00774             length = len(val2)
00775           buff.write(struct.pack('<I%ss'%length, length, val2))
00776         buff.write(_struct_d.pack(val1.penetration_depth))
00777       length = len(self.goal.planning_scene_diff.link_padding)
00778       buff.write(_struct_I.pack(length))
00779       for val1 in self.goal.planning_scene_diff.link_padding:
00780         _x = val1.link_name
00781         length = len(_x)
00782         if python3 or type(_x) == unicode:
00783           _x = _x.encode('utf-8')
00784           length = len(_x)
00785         buff.write(struct.pack('<I%ss'%length, length, _x))
00786         buff.write(_struct_d.pack(val1.padding))
00787       length = len(self.goal.planning_scene_diff.collision_objects)
00788       buff.write(_struct_I.pack(length))
00789       for val1 in self.goal.planning_scene_diff.collision_objects:
00790         _v15 = val1.header
00791         buff.write(_struct_I.pack(_v15.seq))
00792         _v16 = _v15.stamp
00793         _x = _v16
00794         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00795         _x = _v15.frame_id
00796         length = len(_x)
00797         if python3 or type(_x) == unicode:
00798           _x = _x.encode('utf-8')
00799           length = len(_x)
00800         buff.write(struct.pack('<I%ss'%length, length, _x))
00801         _x = val1.id
00802         length = len(_x)
00803         if python3 or type(_x) == unicode:
00804           _x = _x.encode('utf-8')
00805           length = len(_x)
00806         buff.write(struct.pack('<I%ss'%length, length, _x))
00807         buff.write(_struct_f.pack(val1.padding))
00808         _v17 = val1.operation
00809         buff.write(_struct_b.pack(_v17.operation))
00810         length = len(val1.shapes)
00811         buff.write(_struct_I.pack(length))
00812         for val2 in val1.shapes:
00813           buff.write(_struct_b.pack(val2.type))
00814           length = len(val2.dimensions)
00815           buff.write(_struct_I.pack(length))
00816           pattern = '<%sd'%length
00817           buff.write(struct.pack(pattern, *val2.dimensions))
00818           length = len(val2.triangles)
00819           buff.write(_struct_I.pack(length))
00820           pattern = '<%si'%length
00821           buff.write(struct.pack(pattern, *val2.triangles))
00822           length = len(val2.vertices)
00823           buff.write(_struct_I.pack(length))
00824           for val3 in val2.vertices:
00825             _x = val3
00826             buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00827         length = len(val1.poses)
00828         buff.write(_struct_I.pack(length))
00829         for val2 in val1.poses:
00830           _v18 = val2.position
00831           _x = _v18
00832           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00833           _v19 = val2.orientation
00834           _x = _v19
00835           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00836       length = len(self.goal.planning_scene_diff.attached_collision_objects)
00837       buff.write(_struct_I.pack(length))
00838       for val1 in self.goal.planning_scene_diff.attached_collision_objects:
00839         _x = val1.link_name
00840         length = len(_x)
00841         if python3 or type(_x) == unicode:
00842           _x = _x.encode('utf-8')
00843           length = len(_x)
00844         buff.write(struct.pack('<I%ss'%length, length, _x))
00845         _v20 = val1.object
00846         _v21 = _v20.header
00847         buff.write(_struct_I.pack(_v21.seq))
00848         _v22 = _v21.stamp
00849         _x = _v22
00850         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00851         _x = _v21.frame_id
00852         length = len(_x)
00853         if python3 or type(_x) == unicode:
00854           _x = _x.encode('utf-8')
00855           length = len(_x)
00856         buff.write(struct.pack('<I%ss'%length, length, _x))
00857         _x = _v20.id
00858         length = len(_x)
00859         if python3 or type(_x) == unicode:
00860           _x = _x.encode('utf-8')
00861           length = len(_x)
00862         buff.write(struct.pack('<I%ss'%length, length, _x))
00863         buff.write(_struct_f.pack(_v20.padding))
00864         _v23 = _v20.operation
00865         buff.write(_struct_b.pack(_v23.operation))
00866         length = len(_v20.shapes)
00867         buff.write(_struct_I.pack(length))
00868         for val3 in _v20.shapes:
00869           buff.write(_struct_b.pack(val3.type))
00870           length = len(val3.dimensions)
00871           buff.write(_struct_I.pack(length))
00872           pattern = '<%sd'%length
00873           buff.write(struct.pack(pattern, *val3.dimensions))
00874           length = len(val3.triangles)
00875           buff.write(_struct_I.pack(length))
00876           pattern = '<%si'%length
00877           buff.write(struct.pack(pattern, *val3.triangles))
00878           length = len(val3.vertices)
00879           buff.write(_struct_I.pack(length))
00880           for val4 in val3.vertices:
00881             _x = val4
00882             buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00883         length = len(_v20.poses)
00884         buff.write(_struct_I.pack(length))
00885         for val3 in _v20.poses:
00886           _v24 = val3.position
00887           _x = _v24
00888           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00889           _v25 = val3.orientation
00890           _x = _v25
00891           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00892         length = len(val1.touch_links)
00893         buff.write(_struct_I.pack(length))
00894         for val2 in val1.touch_links:
00895           length = len(val2)
00896           if python3 or type(val2) == unicode:
00897             val2 = val2.encode('utf-8')
00898             length = len(val2)
00899           buff.write(struct.pack('<I%ss'%length, length, val2))
00900       _x = self
00901       buff.write(_struct_3I.pack(_x.goal.planning_scene_diff.collision_map.header.seq, _x.goal.planning_scene_diff.collision_map.header.stamp.secs, _x.goal.planning_scene_diff.collision_map.header.stamp.nsecs))
00902       _x = self.goal.planning_scene_diff.collision_map.header.frame_id
00903       length = len(_x)
00904       if python3 or type(_x) == unicode:
00905         _x = _x.encode('utf-8')
00906         length = len(_x)
00907       buff.write(struct.pack('<I%ss'%length, length, _x))
00908       length = len(self.goal.planning_scene_diff.collision_map.boxes)
00909       buff.write(_struct_I.pack(length))
00910       for val1 in self.goal.planning_scene_diff.collision_map.boxes:
00911         _v26 = val1.center
00912         _x = _v26
00913         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00914         _v27 = val1.extents
00915         _x = _v27
00916         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00917         _v28 = val1.axis
00918         _x = _v28
00919         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00920         buff.write(_struct_f.pack(val1.angle))
00921       buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
00922       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
00923       buff.write(_struct_I.pack(length))
00924       pattern = '<%sd'%length
00925       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions))
00926       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
00927       buff.write(_struct_I.pack(length))
00928       pattern = '<%si'%length
00929       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles))
00930       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
00931       buff.write(_struct_I.pack(length))
00932       for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
00933         _x = val1
00934         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00935       _x = self
00936       buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
00937       _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
00938       length = len(_x)
00939       if python3 or type(_x) == unicode:
00940         _x = _x.encode('utf-8')
00941         length = len(_x)
00942       buff.write(struct.pack('<I%ss'%length, length, _x))
00943       _x = self
00944       buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
00945       _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id
00946       length = len(_x)
00947       if python3 or type(_x) == unicode:
00948         _x = _x.encode('utf-8')
00949         length = len(_x)
00950       buff.write(struct.pack('<I%ss'%length, length, _x))
00951       length = len(self.goal.motion_plan_request.start_state.joint_state.name)
00952       buff.write(_struct_I.pack(length))
00953       for val1 in self.goal.motion_plan_request.start_state.joint_state.name:
00954         length = len(val1)
00955         if python3 or type(val1) == unicode:
00956           val1 = val1.encode('utf-8')
00957           length = len(val1)
00958         buff.write(struct.pack('<I%ss'%length, length, val1))
00959       length = len(self.goal.motion_plan_request.start_state.joint_state.position)
00960       buff.write(_struct_I.pack(length))
00961       pattern = '<%sd'%length
00962       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.position))
00963       length = len(self.goal.motion_plan_request.start_state.joint_state.velocity)
00964       buff.write(_struct_I.pack(length))
00965       pattern = '<%sd'%length
00966       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.velocity))
00967       length = len(self.goal.motion_plan_request.start_state.joint_state.effort)
00968       buff.write(_struct_I.pack(length))
00969       pattern = '<%sd'%length
00970       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.effort))
00971       _x = self
00972       buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
00973       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
00974       buff.write(_struct_I.pack(length))
00975       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
00976         length = len(val1)
00977         if python3 or type(val1) == unicode:
00978           val1 = val1.encode('utf-8')
00979           length = len(val1)
00980         buff.write(struct.pack('<I%ss'%length, length, val1))
00981       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
00982       buff.write(_struct_I.pack(length))
00983       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
00984         length = len(val1)
00985         if python3 or type(val1) == unicode:
00986           val1 = val1.encode('utf-8')
00987           length = len(val1)
00988         buff.write(struct.pack('<I%ss'%length, length, val1))
00989       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
00990       buff.write(_struct_I.pack(length))
00991       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
00992         length = len(val1)
00993         if python3 or type(val1) == unicode:
00994           val1 = val1.encode('utf-8')
00995           length = len(val1)
00996         buff.write(struct.pack('<I%ss'%length, length, val1))
00997       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
00998       buff.write(_struct_I.pack(length))
00999       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
01000         _v29 = val1.position
01001         _x = _v29
01002         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01003         _v30 = val1.orientation
01004         _x = _v30
01005         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01006       length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints)
01007       buff.write(_struct_I.pack(length))
01008       for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints:
01009         _x = val1.joint_name
01010         length = len(_x)
01011         if python3 or type(_x) == unicode:
01012           _x = _x.encode('utf-8')
01013           length = len(_x)
01014         buff.write(struct.pack('<I%ss'%length, length, _x))
01015         _x = val1
01016         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01017       length = len(self.goal.motion_plan_request.goal_constraints.position_constraints)
01018       buff.write(_struct_I.pack(length))
01019       for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints:
01020         _v31 = val1.header
01021         buff.write(_struct_I.pack(_v31.seq))
01022         _v32 = _v31.stamp
01023         _x = _v32
01024         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01025         _x = _v31.frame_id
01026         length = len(_x)
01027         if python3 or type(_x) == unicode:
01028           _x = _x.encode('utf-8')
01029           length = len(_x)
01030         buff.write(struct.pack('<I%ss'%length, length, _x))
01031         _x = val1.link_name
01032         length = len(_x)
01033         if python3 or type(_x) == unicode:
01034           _x = _x.encode('utf-8')
01035           length = len(_x)
01036         buff.write(struct.pack('<I%ss'%length, length, _x))
01037         _v33 = val1.target_point_offset
01038         _x = _v33
01039         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01040         _v34 = val1.position
01041         _x = _v34
01042         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01043         _v35 = val1.constraint_region_shape
01044         buff.write(_struct_b.pack(_v35.type))
01045         length = len(_v35.dimensions)
01046         buff.write(_struct_I.pack(length))
01047         pattern = '<%sd'%length
01048         buff.write(struct.pack(pattern, *_v35.dimensions))
01049         length = len(_v35.triangles)
01050         buff.write(_struct_I.pack(length))
01051         pattern = '<%si'%length
01052         buff.write(struct.pack(pattern, *_v35.triangles))
01053         length = len(_v35.vertices)
01054         buff.write(_struct_I.pack(length))
01055         for val3 in _v35.vertices:
01056           _x = val3
01057           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01058         _v36 = val1.constraint_region_orientation
01059         _x = _v36
01060         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01061         buff.write(_struct_d.pack(val1.weight))
01062       length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints)
01063       buff.write(_struct_I.pack(length))
01064       for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints:
01065         _v37 = val1.header
01066         buff.write(_struct_I.pack(_v37.seq))
01067         _v38 = _v37.stamp
01068         _x = _v38
01069         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01070         _x = _v37.frame_id
01071         length = len(_x)
01072         if python3 or type(_x) == unicode:
01073           _x = _x.encode('utf-8')
01074           length = len(_x)
01075         buff.write(struct.pack('<I%ss'%length, length, _x))
01076         _x = val1.link_name
01077         length = len(_x)
01078         if python3 or type(_x) == unicode:
01079           _x = _x.encode('utf-8')
01080           length = len(_x)
01081         buff.write(struct.pack('<I%ss'%length, length, _x))
01082         buff.write(_struct_i.pack(val1.type))
01083         _v39 = val1.orientation
01084         _x = _v39
01085         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01086         _x = val1
01087         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01088       length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints)
01089       buff.write(_struct_I.pack(length))
01090       for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints:
01091         _v40 = val1.header
01092         buff.write(_struct_I.pack(_v40.seq))
01093         _v41 = _v40.stamp
01094         _x = _v41
01095         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01096         _x = _v40.frame_id
01097         length = len(_x)
01098         if python3 or type(_x) == unicode:
01099           _x = _x.encode('utf-8')
01100           length = len(_x)
01101         buff.write(struct.pack('<I%ss'%length, length, _x))
01102         _v42 = val1.target
01103         _v43 = _v42.header
01104         buff.write(_struct_I.pack(_v43.seq))
01105         _v44 = _v43.stamp
01106         _x = _v44
01107         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01108         _x = _v43.frame_id
01109         length = len(_x)
01110         if python3 or type(_x) == unicode:
01111           _x = _x.encode('utf-8')
01112           length = len(_x)
01113         buff.write(struct.pack('<I%ss'%length, length, _x))
01114         _v45 = _v42.point
01115         _x = _v45
01116         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01117         _v46 = val1.sensor_pose
01118         _v47 = _v46.header
01119         buff.write(_struct_I.pack(_v47.seq))
01120         _v48 = _v47.stamp
01121         _x = _v48
01122         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01123         _x = _v47.frame_id
01124         length = len(_x)
01125         if python3 or type(_x) == unicode:
01126           _x = _x.encode('utf-8')
01127           length = len(_x)
01128         buff.write(struct.pack('<I%ss'%length, length, _x))
01129         _v49 = _v46.pose
01130         _v50 = _v49.position
01131         _x = _v50
01132         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01133         _v51 = _v49.orientation
01134         _x = _v51
01135         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01136         buff.write(_struct_d.pack(val1.absolute_tolerance))
01137       length = len(self.goal.motion_plan_request.path_constraints.joint_constraints)
01138       buff.write(_struct_I.pack(length))
01139       for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints:
01140         _x = val1.joint_name
01141         length = len(_x)
01142         if python3 or type(_x) == unicode:
01143           _x = _x.encode('utf-8')
01144           length = len(_x)
01145         buff.write(struct.pack('<I%ss'%length, length, _x))
01146         _x = val1
01147         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01148       length = len(self.goal.motion_plan_request.path_constraints.position_constraints)
01149       buff.write(_struct_I.pack(length))
01150       for val1 in self.goal.motion_plan_request.path_constraints.position_constraints:
01151         _v52 = val1.header
01152         buff.write(_struct_I.pack(_v52.seq))
01153         _v53 = _v52.stamp
01154         _x = _v53
01155         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01156         _x = _v52.frame_id
01157         length = len(_x)
01158         if python3 or type(_x) == unicode:
01159           _x = _x.encode('utf-8')
01160           length = len(_x)
01161         buff.write(struct.pack('<I%ss'%length, length, _x))
01162         _x = val1.link_name
01163         length = len(_x)
01164         if python3 or type(_x) == unicode:
01165           _x = _x.encode('utf-8')
01166           length = len(_x)
01167         buff.write(struct.pack('<I%ss'%length, length, _x))
01168         _v54 = val1.target_point_offset
01169         _x = _v54
01170         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01171         _v55 = val1.position
01172         _x = _v55
01173         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01174         _v56 = val1.constraint_region_shape
01175         buff.write(_struct_b.pack(_v56.type))
01176         length = len(_v56.dimensions)
01177         buff.write(_struct_I.pack(length))
01178         pattern = '<%sd'%length
01179         buff.write(struct.pack(pattern, *_v56.dimensions))
01180         length = len(_v56.triangles)
01181         buff.write(_struct_I.pack(length))
01182         pattern = '<%si'%length
01183         buff.write(struct.pack(pattern, *_v56.triangles))
01184         length = len(_v56.vertices)
01185         buff.write(_struct_I.pack(length))
01186         for val3 in _v56.vertices:
01187           _x = val3
01188           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01189         _v57 = val1.constraint_region_orientation
01190         _x = _v57
01191         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01192         buff.write(_struct_d.pack(val1.weight))
01193       length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints)
01194       buff.write(_struct_I.pack(length))
01195       for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints:
01196         _v58 = val1.header
01197         buff.write(_struct_I.pack(_v58.seq))
01198         _v59 = _v58.stamp
01199         _x = _v59
01200         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01201         _x = _v58.frame_id
01202         length = len(_x)
01203         if python3 or type(_x) == unicode:
01204           _x = _x.encode('utf-8')
01205           length = len(_x)
01206         buff.write(struct.pack('<I%ss'%length, length, _x))
01207         _x = val1.link_name
01208         length = len(_x)
01209         if python3 or type(_x) == unicode:
01210           _x = _x.encode('utf-8')
01211           length = len(_x)
01212         buff.write(struct.pack('<I%ss'%length, length, _x))
01213         buff.write(_struct_i.pack(val1.type))
01214         _v60 = val1.orientation
01215         _x = _v60
01216         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01217         _x = val1
01218         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01219       length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints)
01220       buff.write(_struct_I.pack(length))
01221       for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints:
01222         _v61 = val1.header
01223         buff.write(_struct_I.pack(_v61.seq))
01224         _v62 = _v61.stamp
01225         _x = _v62
01226         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01227         _x = _v61.frame_id
01228         length = len(_x)
01229         if python3 or type(_x) == unicode:
01230           _x = _x.encode('utf-8')
01231           length = len(_x)
01232         buff.write(struct.pack('<I%ss'%length, length, _x))
01233         _v63 = val1.target
01234         _v64 = _v63.header
01235         buff.write(_struct_I.pack(_v64.seq))
01236         _v65 = _v64.stamp
01237         _x = _v65
01238         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01239         _x = _v64.frame_id
01240         length = len(_x)
01241         if python3 or type(_x) == unicode:
01242           _x = _x.encode('utf-8')
01243           length = len(_x)
01244         buff.write(struct.pack('<I%ss'%length, length, _x))
01245         _v66 = _v63.point
01246         _x = _v66
01247         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01248         _v67 = val1.sensor_pose
01249         _v68 = _v67.header
01250         buff.write(_struct_I.pack(_v68.seq))
01251         _v69 = _v68.stamp
01252         _x = _v69
01253         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01254         _x = _v68.frame_id
01255         length = len(_x)
01256         if python3 or type(_x) == unicode:
01257           _x = _x.encode('utf-8')
01258           length = len(_x)
01259         buff.write(struct.pack('<I%ss'%length, length, _x))
01260         _v70 = _v67.pose
01261         _v71 = _v70.position
01262         _x = _v71
01263         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01264         _v72 = _v70.orientation
01265         _x = _v72
01266         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01267         buff.write(_struct_d.pack(val1.absolute_tolerance))
01268       _x = self.goal.motion_plan_request.planner_id
01269       length = len(_x)
01270       if python3 or type(_x) == unicode:
01271         _x = _x.encode('utf-8')
01272         length = len(_x)
01273       buff.write(struct.pack('<I%ss'%length, length, _x))
01274       _x = self.goal.motion_plan_request.group_name
01275       length = len(_x)
01276       if python3 or type(_x) == unicode:
01277         _x = _x.encode('utf-8')
01278         length = len(_x)
01279       buff.write(struct.pack('<I%ss'%length, length, _x))
01280       _x = self
01281       buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs))
01282       length = len(self.goal.operations.collision_operations)
01283       buff.write(_struct_I.pack(length))
01284       for val1 in self.goal.operations.collision_operations:
01285         _x = val1.object1
01286         length = len(_x)
01287         if python3 or type(_x) == unicode:
01288           _x = _x.encode('utf-8')
01289           length = len(_x)
01290         buff.write(struct.pack('<I%ss'%length, length, _x))
01291         _x = val1.object2
01292         length = len(_x)
01293         if python3 or type(_x) == unicode:
01294           _x = _x.encode('utf-8')
01295           length = len(_x)
01296         buff.write(struct.pack('<I%ss'%length, length, _x))
01297         _x = val1
01298         buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
01299       _x = self
01300       buff.write(_struct_4B.pack(_x.goal.accept_partial_plans, _x.goal.accept_invalid_goals, _x.goal.disable_ik, _x.goal.disable_collision_monitoring))
01301     except struct.error as se: self._check_types(se)
01302     except TypeError as te: self._check_types(te)
01303 
01304   def deserialize(self, str):
01305     """
01306     unpack serialized message in str into this message instance
01307     :param str: byte array of serialized message, ``str``
01308     """
01309     try:
01310       if self.header is None:
01311         self.header = std_msgs.msg.Header()
01312       if self.goal_id is None:
01313         self.goal_id = actionlib_msgs.msg.GoalID()
01314       if self.goal is None:
01315         self.goal = arm_navigation_msgs.msg.MoveArmGoal()
01316       end = 0
01317       _x = self
01318       start = end
01319       end += 12
01320       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01321       start = end
01322       end += 4
01323       (length,) = _struct_I.unpack(str[start:end])
01324       start = end
01325       end += length
01326       if python3:
01327         self.header.frame_id = str[start:end].decode('utf-8')
01328       else:
01329         self.header.frame_id = str[start:end]
01330       _x = self
01331       start = end
01332       end += 8
01333       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01334       start = end
01335       end += 4
01336       (length,) = _struct_I.unpack(str[start:end])
01337       start = end
01338       end += length
01339       if python3:
01340         self.goal_id.id = str[start:end].decode('utf-8')
01341       else:
01342         self.goal_id.id = str[start:end]
01343       start = end
01344       end += 4
01345       (length,) = _struct_I.unpack(str[start:end])
01346       start = end
01347       end += length
01348       if python3:
01349         self.goal.planner_service_name = str[start:end].decode('utf-8')
01350       else:
01351         self.goal.planner_service_name = str[start:end]
01352       _x = self
01353       start = end
01354       end += 12
01355       (_x.goal.planning_scene_diff.robot_state.joint_state.header.seq, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01356       start = end
01357       end += 4
01358       (length,) = _struct_I.unpack(str[start:end])
01359       start = end
01360       end += length
01361       if python3:
01362         self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
01363       else:
01364         self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
01365       start = end
01366       end += 4
01367       (length,) = _struct_I.unpack(str[start:end])
01368       self.goal.planning_scene_diff.robot_state.joint_state.name = []
01369       for i in range(0, length):
01370         start = end
01371         end += 4
01372         (length,) = _struct_I.unpack(str[start:end])
01373         start = end
01374         end += length
01375         if python3:
01376           val1 = str[start:end].decode('utf-8')
01377         else:
01378           val1 = str[start:end]
01379         self.goal.planning_scene_diff.robot_state.joint_state.name.append(val1)
01380       start = end
01381       end += 4
01382       (length,) = _struct_I.unpack(str[start:end])
01383       pattern = '<%sd'%length
01384       start = end
01385       end += struct.calcsize(pattern)
01386       self.goal.planning_scene_diff.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
01387       start = end
01388       end += 4
01389       (length,) = _struct_I.unpack(str[start:end])
01390       pattern = '<%sd'%length
01391       start = end
01392       end += struct.calcsize(pattern)
01393       self.goal.planning_scene_diff.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
01394       start = end
01395       end += 4
01396       (length,) = _struct_I.unpack(str[start:end])
01397       pattern = '<%sd'%length
01398       start = end
01399       end += struct.calcsize(pattern)
01400       self.goal.planning_scene_diff.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
01401       _x = self
01402       start = end
01403       end += 8
01404       (_x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01405       start = end
01406       end += 4
01407       (length,) = _struct_I.unpack(str[start:end])
01408       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
01409       for i in range(0, length):
01410         start = end
01411         end += 4
01412         (length,) = _struct_I.unpack(str[start:end])
01413         start = end
01414         end += length
01415         if python3:
01416           val1 = str[start:end].decode('utf-8')
01417         else:
01418           val1 = str[start:end]
01419         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
01420       start = end
01421       end += 4
01422       (length,) = _struct_I.unpack(str[start:end])
01423       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids = []
01424       for i in range(0, length):
01425         start = end
01426         end += 4
01427         (length,) = _struct_I.unpack(str[start:end])
01428         start = end
01429         end += length
01430         if python3:
01431           val1 = str[start:end].decode('utf-8')
01432         else:
01433           val1 = str[start:end]
01434         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(val1)
01435       start = end
01436       end += 4
01437       (length,) = _struct_I.unpack(str[start:end])
01438       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids = []
01439       for i in range(0, length):
01440         start = end
01441         end += 4
01442         (length,) = _struct_I.unpack(str[start:end])
01443         start = end
01444         end += length
01445         if python3:
01446           val1 = str[start:end].decode('utf-8')
01447         else:
01448           val1 = str[start:end]
01449         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
01450       start = end
01451       end += 4
01452       (length,) = _struct_I.unpack(str[start:end])
01453       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses = []
01454       for i in range(0, length):
01455         val1 = geometry_msgs.msg.Pose()
01456         _v73 = val1.position
01457         _x = _v73
01458         start = end
01459         end += 24
01460         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01461         _v74 = val1.orientation
01462         _x = _v74
01463         start = end
01464         end += 32
01465         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01466         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(val1)
01467       start = end
01468       end += 4
01469       (length,) = _struct_I.unpack(str[start:end])
01470       self.goal.planning_scene_diff.fixed_frame_transforms = []
01471       for i in range(0, length):
01472         val1 = geometry_msgs.msg.TransformStamped()
01473         _v75 = val1.header
01474         start = end
01475         end += 4
01476         (_v75.seq,) = _struct_I.unpack(str[start:end])
01477         _v76 = _v75.stamp
01478         _x = _v76
01479         start = end
01480         end += 8
01481         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01482         start = end
01483         end += 4
01484         (length,) = _struct_I.unpack(str[start:end])
01485         start = end
01486         end += length
01487         if python3:
01488           _v75.frame_id = str[start:end].decode('utf-8')
01489         else:
01490           _v75.frame_id = str[start:end]
01491         start = end
01492         end += 4
01493         (length,) = _struct_I.unpack(str[start:end])
01494         start = end
01495         end += length
01496         if python3:
01497           val1.child_frame_id = str[start:end].decode('utf-8')
01498         else:
01499           val1.child_frame_id = str[start:end]
01500         _v77 = val1.transform
01501         _v78 = _v77.translation
01502         _x = _v78
01503         start = end
01504         end += 24
01505         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01506         _v79 = _v77.rotation
01507         _x = _v79
01508         start = end
01509         end += 32
01510         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01511         self.goal.planning_scene_diff.fixed_frame_transforms.append(val1)
01512       start = end
01513       end += 4
01514       (length,) = _struct_I.unpack(str[start:end])
01515       self.goal.planning_scene_diff.allowed_collision_matrix.link_names = []
01516       for i in range(0, length):
01517         start = end
01518         end += 4
01519         (length,) = _struct_I.unpack(str[start:end])
01520         start = end
01521         end += length
01522         if python3:
01523           val1 = str[start:end].decode('utf-8')
01524         else:
01525           val1 = str[start:end]
01526         self.goal.planning_scene_diff.allowed_collision_matrix.link_names.append(val1)
01527       start = end
01528       end += 4
01529       (length,) = _struct_I.unpack(str[start:end])
01530       self.goal.planning_scene_diff.allowed_collision_matrix.entries = []
01531       for i in range(0, length):
01532         val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
01533         start = end
01534         end += 4
01535         (length,) = _struct_I.unpack(str[start:end])
01536         pattern = '<%sB'%length
01537         start = end
01538         end += struct.calcsize(pattern)
01539         val1.enabled = struct.unpack(pattern, str[start:end])
01540         val1.enabled = map(bool, val1.enabled)
01541         self.goal.planning_scene_diff.allowed_collision_matrix.entries.append(val1)
01542       start = end
01543       end += 4
01544       (length,) = _struct_I.unpack(str[start:end])
01545       self.goal.planning_scene_diff.allowed_contacts = []
01546       for i in range(0, length):
01547         val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
01548         start = end
01549         end += 4
01550         (length,) = _struct_I.unpack(str[start:end])
01551         start = end
01552         end += length
01553         if python3:
01554           val1.name = str[start:end].decode('utf-8')
01555         else:
01556           val1.name = str[start:end]
01557         _v80 = val1.shape
01558         start = end
01559         end += 1
01560         (_v80.type,) = _struct_b.unpack(str[start:end])
01561         start = end
01562         end += 4
01563         (length,) = _struct_I.unpack(str[start:end])
01564         pattern = '<%sd'%length
01565         start = end
01566         end += struct.calcsize(pattern)
01567         _v80.dimensions = struct.unpack(pattern, str[start:end])
01568         start = end
01569         end += 4
01570         (length,) = _struct_I.unpack(str[start:end])
01571         pattern = '<%si'%length
01572         start = end
01573         end += struct.calcsize(pattern)
01574         _v80.triangles = struct.unpack(pattern, str[start:end])
01575         start = end
01576         end += 4
01577         (length,) = _struct_I.unpack(str[start:end])
01578         _v80.vertices = []
01579         for i in range(0, length):
01580           val3 = geometry_msgs.msg.Point()
01581           _x = val3
01582           start = end
01583           end += 24
01584           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01585           _v80.vertices.append(val3)
01586         _v81 = val1.pose_stamped
01587         _v82 = _v81.header
01588         start = end
01589         end += 4
01590         (_v82.seq,) = _struct_I.unpack(str[start:end])
01591         _v83 = _v82.stamp
01592         _x = _v83
01593         start = end
01594         end += 8
01595         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01596         start = end
01597         end += 4
01598         (length,) = _struct_I.unpack(str[start:end])
01599         start = end
01600         end += length
01601         if python3:
01602           _v82.frame_id = str[start:end].decode('utf-8')
01603         else:
01604           _v82.frame_id = str[start:end]
01605         _v84 = _v81.pose
01606         _v85 = _v84.position
01607         _x = _v85
01608         start = end
01609         end += 24
01610         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01611         _v86 = _v84.orientation
01612         _x = _v86
01613         start = end
01614         end += 32
01615         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01616         start = end
01617         end += 4
01618         (length,) = _struct_I.unpack(str[start:end])
01619         val1.link_names = []
01620         for i in range(0, length):
01621           start = end
01622           end += 4
01623           (length,) = _struct_I.unpack(str[start:end])
01624           start = end
01625           end += length
01626           if python3:
01627             val2 = str[start:end].decode('utf-8')
01628           else:
01629             val2 = str[start:end]
01630           val1.link_names.append(val2)
01631         start = end
01632         end += 8
01633         (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
01634         self.goal.planning_scene_diff.allowed_contacts.append(val1)
01635       start = end
01636       end += 4
01637       (length,) = _struct_I.unpack(str[start:end])
01638       self.goal.planning_scene_diff.link_padding = []
01639       for i in range(0, length):
01640         val1 = arm_navigation_msgs.msg.LinkPadding()
01641         start = end
01642         end += 4
01643         (length,) = _struct_I.unpack(str[start:end])
01644         start = end
01645         end += length
01646         if python3:
01647           val1.link_name = str[start:end].decode('utf-8')
01648         else:
01649           val1.link_name = str[start:end]
01650         start = end
01651         end += 8
01652         (val1.padding,) = _struct_d.unpack(str[start:end])
01653         self.goal.planning_scene_diff.link_padding.append(val1)
01654       start = end
01655       end += 4
01656       (length,) = _struct_I.unpack(str[start:end])
01657       self.goal.planning_scene_diff.collision_objects = []
01658       for i in range(0, length):
01659         val1 = arm_navigation_msgs.msg.CollisionObject()
01660         _v87 = val1.header
01661         start = end
01662         end += 4
01663         (_v87.seq,) = _struct_I.unpack(str[start:end])
01664         _v88 = _v87.stamp
01665         _x = _v88
01666         start = end
01667         end += 8
01668         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01669         start = end
01670         end += 4
01671         (length,) = _struct_I.unpack(str[start:end])
01672         start = end
01673         end += length
01674         if python3:
01675           _v87.frame_id = str[start:end].decode('utf-8')
01676         else:
01677           _v87.frame_id = str[start:end]
01678         start = end
01679         end += 4
01680         (length,) = _struct_I.unpack(str[start:end])
01681         start = end
01682         end += length
01683         if python3:
01684           val1.id = str[start:end].decode('utf-8')
01685         else:
01686           val1.id = str[start:end]
01687         start = end
01688         end += 4
01689         (val1.padding,) = _struct_f.unpack(str[start:end])
01690         _v89 = val1.operation
01691         start = end
01692         end += 1
01693         (_v89.operation,) = _struct_b.unpack(str[start:end])
01694         start = end
01695         end += 4
01696         (length,) = _struct_I.unpack(str[start:end])
01697         val1.shapes = []
01698         for i in range(0, length):
01699           val2 = arm_navigation_msgs.msg.Shape()
01700           start = end
01701           end += 1
01702           (val2.type,) = _struct_b.unpack(str[start:end])
01703           start = end
01704           end += 4
01705           (length,) = _struct_I.unpack(str[start:end])
01706           pattern = '<%sd'%length
01707           start = end
01708           end += struct.calcsize(pattern)
01709           val2.dimensions = struct.unpack(pattern, str[start:end])
01710           start = end
01711           end += 4
01712           (length,) = _struct_I.unpack(str[start:end])
01713           pattern = '<%si'%length
01714           start = end
01715           end += struct.calcsize(pattern)
01716           val2.triangles = struct.unpack(pattern, str[start:end])
01717           start = end
01718           end += 4
01719           (length,) = _struct_I.unpack(str[start:end])
01720           val2.vertices = []
01721           for i in range(0, length):
01722             val3 = geometry_msgs.msg.Point()
01723             _x = val3
01724             start = end
01725             end += 24
01726             (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01727             val2.vertices.append(val3)
01728           val1.shapes.append(val2)
01729         start = end
01730         end += 4
01731         (length,) = _struct_I.unpack(str[start:end])
01732         val1.poses = []
01733         for i in range(0, length):
01734           val2 = geometry_msgs.msg.Pose()
01735           _v90 = val2.position
01736           _x = _v90
01737           start = end
01738           end += 24
01739           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01740           _v91 = val2.orientation
01741           _x = _v91
01742           start = end
01743           end += 32
01744           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01745           val1.poses.append(val2)
01746         self.goal.planning_scene_diff.collision_objects.append(val1)
01747       start = end
01748       end += 4
01749       (length,) = _struct_I.unpack(str[start:end])
01750       self.goal.planning_scene_diff.attached_collision_objects = []
01751       for i in range(0, length):
01752         val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
01753         start = end
01754         end += 4
01755         (length,) = _struct_I.unpack(str[start:end])
01756         start = end
01757         end += length
01758         if python3:
01759           val1.link_name = str[start:end].decode('utf-8')
01760         else:
01761           val1.link_name = str[start:end]
01762         _v92 = val1.object
01763         _v93 = _v92.header
01764         start = end
01765         end += 4
01766         (_v93.seq,) = _struct_I.unpack(str[start:end])
01767         _v94 = _v93.stamp
01768         _x = _v94
01769         start = end
01770         end += 8
01771         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01772         start = end
01773         end += 4
01774         (length,) = _struct_I.unpack(str[start:end])
01775         start = end
01776         end += length
01777         if python3:
01778           _v93.frame_id = str[start:end].decode('utf-8')
01779         else:
01780           _v93.frame_id = str[start:end]
01781         start = end
01782         end += 4
01783         (length,) = _struct_I.unpack(str[start:end])
01784         start = end
01785         end += length
01786         if python3:
01787           _v92.id = str[start:end].decode('utf-8')
01788         else:
01789           _v92.id = str[start:end]
01790         start = end
01791         end += 4
01792         (_v92.padding,) = _struct_f.unpack(str[start:end])
01793         _v95 = _v92.operation
01794         start = end
01795         end += 1
01796         (_v95.operation,) = _struct_b.unpack(str[start:end])
01797         start = end
01798         end += 4
01799         (length,) = _struct_I.unpack(str[start:end])
01800         _v92.shapes = []
01801         for i in range(0, length):
01802           val3 = arm_navigation_msgs.msg.Shape()
01803           start = end
01804           end += 1
01805           (val3.type,) = _struct_b.unpack(str[start:end])
01806           start = end
01807           end += 4
01808           (length,) = _struct_I.unpack(str[start:end])
01809           pattern = '<%sd'%length
01810           start = end
01811           end += struct.calcsize(pattern)
01812           val3.dimensions = struct.unpack(pattern, str[start:end])
01813           start = end
01814           end += 4
01815           (length,) = _struct_I.unpack(str[start:end])
01816           pattern = '<%si'%length
01817           start = end
01818           end += struct.calcsize(pattern)
01819           val3.triangles = struct.unpack(pattern, str[start:end])
01820           start = end
01821           end += 4
01822           (length,) = _struct_I.unpack(str[start:end])
01823           val3.vertices = []
01824           for i in range(0, length):
01825             val4 = geometry_msgs.msg.Point()
01826             _x = val4
01827             start = end
01828             end += 24
01829             (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01830             val3.vertices.append(val4)
01831           _v92.shapes.append(val3)
01832         start = end
01833         end += 4
01834         (length,) = _struct_I.unpack(str[start:end])
01835         _v92.poses = []
01836         for i in range(0, length):
01837           val3 = geometry_msgs.msg.Pose()
01838           _v96 = val3.position
01839           _x = _v96
01840           start = end
01841           end += 24
01842           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01843           _v97 = val3.orientation
01844           _x = _v97
01845           start = end
01846           end += 32
01847           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01848           _v92.poses.append(val3)
01849         start = end
01850         end += 4
01851         (length,) = _struct_I.unpack(str[start:end])
01852         val1.touch_links = []
01853         for i in range(0, length):
01854           start = end
01855           end += 4
01856           (length,) = _struct_I.unpack(str[start:end])
01857           start = end
01858           end += length
01859           if python3:
01860             val2 = str[start:end].decode('utf-8')
01861           else:
01862             val2 = str[start:end]
01863           val1.touch_links.append(val2)
01864         self.goal.planning_scene_diff.attached_collision_objects.append(val1)
01865       _x = self
01866       start = end
01867       end += 12
01868       (_x.goal.planning_scene_diff.collision_map.header.seq, _x.goal.planning_scene_diff.collision_map.header.stamp.secs, _x.goal.planning_scene_diff.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01869       start = end
01870       end += 4
01871       (length,) = _struct_I.unpack(str[start:end])
01872       start = end
01873       end += length
01874       if python3:
01875         self.goal.planning_scene_diff.collision_map.header.frame_id = str[start:end].decode('utf-8')
01876       else:
01877         self.goal.planning_scene_diff.collision_map.header.frame_id = str[start:end]
01878       start = end
01879       end += 4
01880       (length,) = _struct_I.unpack(str[start:end])
01881       self.goal.planning_scene_diff.collision_map.boxes = []
01882       for i in range(0, length):
01883         val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
01884         _v98 = val1.center
01885         _x = _v98
01886         start = end
01887         end += 12
01888         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01889         _v99 = val1.extents
01890         _x = _v99
01891         start = end
01892         end += 12
01893         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01894         _v100 = val1.axis
01895         _x = _v100
01896         start = end
01897         end += 12
01898         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01899         start = end
01900         end += 4
01901         (val1.angle,) = _struct_f.unpack(str[start:end])
01902         self.goal.planning_scene_diff.collision_map.boxes.append(val1)
01903       start = end
01904       end += 1
01905       (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
01906       start = end
01907       end += 4
01908       (length,) = _struct_I.unpack(str[start:end])
01909       pattern = '<%sd'%length
01910       start = end
01911       end += struct.calcsize(pattern)
01912       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
01913       start = end
01914       end += 4
01915       (length,) = _struct_I.unpack(str[start:end])
01916       pattern = '<%si'%length
01917       start = end
01918       end += struct.calcsize(pattern)
01919       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
01920       start = end
01921       end += 4
01922       (length,) = _struct_I.unpack(str[start:end])
01923       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
01924       for i in range(0, length):
01925         val1 = geometry_msgs.msg.Point()
01926         _x = val1
01927         start = end
01928         end += 24
01929         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01930         self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
01931       _x = self
01932       start = end
01933       end += 12
01934       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01935       start = end
01936       end += 4
01937       (length,) = _struct_I.unpack(str[start:end])
01938       start = end
01939       end += length
01940       if python3:
01941         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
01942       else:
01943         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
01944       _x = self
01945       start = end
01946       end += 68
01947       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
01948       start = end
01949       end += 4
01950       (length,) = _struct_I.unpack(str[start:end])
01951       start = end
01952       end += length
01953       if python3:
01954         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
01955       else:
01956         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
01957       start = end
01958       end += 4
01959       (length,) = _struct_I.unpack(str[start:end])
01960       self.goal.motion_plan_request.start_state.joint_state.name = []
01961       for i in range(0, length):
01962         start = end
01963         end += 4
01964         (length,) = _struct_I.unpack(str[start:end])
01965         start = end
01966         end += length
01967         if python3:
01968           val1 = str[start:end].decode('utf-8')
01969         else:
01970           val1 = str[start:end]
01971         self.goal.motion_plan_request.start_state.joint_state.name.append(val1)
01972       start = end
01973       end += 4
01974       (length,) = _struct_I.unpack(str[start:end])
01975       pattern = '<%sd'%length
01976       start = end
01977       end += struct.calcsize(pattern)
01978       self.goal.motion_plan_request.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
01979       start = end
01980       end += 4
01981       (length,) = _struct_I.unpack(str[start:end])
01982       pattern = '<%sd'%length
01983       start = end
01984       end += struct.calcsize(pattern)
01985       self.goal.motion_plan_request.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
01986       start = end
01987       end += 4
01988       (length,) = _struct_I.unpack(str[start:end])
01989       pattern = '<%sd'%length
01990       start = end
01991       end += struct.calcsize(pattern)
01992       self.goal.motion_plan_request.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
01993       _x = self
01994       start = end
01995       end += 8
01996       (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01997       start = end
01998       end += 4
01999       (length,) = _struct_I.unpack(str[start:end])
02000       self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
02001       for i in range(0, length):
02002         start = end
02003         end += 4
02004         (length,) = _struct_I.unpack(str[start:end])
02005         start = end
02006         end += length
02007         if python3:
02008           val1 = str[start:end].decode('utf-8')
02009         else:
02010           val1 = str[start:end]
02011         self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
02012       start = end
02013       end += 4
02014       (length,) = _struct_I.unpack(str[start:end])
02015       self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
02016       for i in range(0, length):
02017         start = end
02018         end += 4
02019         (length,) = _struct_I.unpack(str[start:end])
02020         start = end
02021         end += length
02022         if python3:
02023           val1 = str[start:end].decode('utf-8')
02024         else:
02025           val1 = str[start:end]
02026         self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
02027       start = end
02028       end += 4
02029       (length,) = _struct_I.unpack(str[start:end])
02030       self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
02031       for i in range(0, length):
02032         start = end
02033         end += 4
02034         (length,) = _struct_I.unpack(str[start:end])
02035         start = end
02036         end += length
02037         if python3:
02038           val1 = str[start:end].decode('utf-8')
02039         else:
02040           val1 = str[start:end]
02041         self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
02042       start = end
02043       end += 4
02044       (length,) = _struct_I.unpack(str[start:end])
02045       self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
02046       for i in range(0, length):
02047         val1 = geometry_msgs.msg.Pose()
02048         _v101 = val1.position
02049         _x = _v101
02050         start = end
02051         end += 24
02052         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02053         _v102 = val1.orientation
02054         _x = _v102
02055         start = end
02056         end += 32
02057         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02058         self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
02059       start = end
02060       end += 4
02061       (length,) = _struct_I.unpack(str[start:end])
02062       self.goal.motion_plan_request.goal_constraints.joint_constraints = []
02063       for i in range(0, length):
02064         val1 = arm_navigation_msgs.msg.JointConstraint()
02065         start = end
02066         end += 4
02067         (length,) = _struct_I.unpack(str[start:end])
02068         start = end
02069         end += length
02070         if python3:
02071           val1.joint_name = str[start:end].decode('utf-8')
02072         else:
02073           val1.joint_name = str[start:end]
02074         _x = val1
02075         start = end
02076         end += 32
02077         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02078         self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
02079       start = end
02080       end += 4
02081       (length,) = _struct_I.unpack(str[start:end])
02082       self.goal.motion_plan_request.goal_constraints.position_constraints = []
02083       for i in range(0, length):
02084         val1 = arm_navigation_msgs.msg.PositionConstraint()
02085         _v103 = val1.header
02086         start = end
02087         end += 4
02088         (_v103.seq,) = _struct_I.unpack(str[start:end])
02089         _v104 = _v103.stamp
02090         _x = _v104
02091         start = end
02092         end += 8
02093         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02094         start = end
02095         end += 4
02096         (length,) = _struct_I.unpack(str[start:end])
02097         start = end
02098         end += length
02099         if python3:
02100           _v103.frame_id = str[start:end].decode('utf-8')
02101         else:
02102           _v103.frame_id = str[start:end]
02103         start = end
02104         end += 4
02105         (length,) = _struct_I.unpack(str[start:end])
02106         start = end
02107         end += length
02108         if python3:
02109           val1.link_name = str[start:end].decode('utf-8')
02110         else:
02111           val1.link_name = str[start:end]
02112         _v105 = val1.target_point_offset
02113         _x = _v105
02114         start = end
02115         end += 24
02116         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02117         _v106 = val1.position
02118         _x = _v106
02119         start = end
02120         end += 24
02121         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02122         _v107 = val1.constraint_region_shape
02123         start = end
02124         end += 1
02125         (_v107.type,) = _struct_b.unpack(str[start:end])
02126         start = end
02127         end += 4
02128         (length,) = _struct_I.unpack(str[start:end])
02129         pattern = '<%sd'%length
02130         start = end
02131         end += struct.calcsize(pattern)
02132         _v107.dimensions = struct.unpack(pattern, str[start:end])
02133         start = end
02134         end += 4
02135         (length,) = _struct_I.unpack(str[start:end])
02136         pattern = '<%si'%length
02137         start = end
02138         end += struct.calcsize(pattern)
02139         _v107.triangles = struct.unpack(pattern, str[start:end])
02140         start = end
02141         end += 4
02142         (length,) = _struct_I.unpack(str[start:end])
02143         _v107.vertices = []
02144         for i in range(0, length):
02145           val3 = geometry_msgs.msg.Point()
02146           _x = val3
02147           start = end
02148           end += 24
02149           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02150           _v107.vertices.append(val3)
02151         _v108 = val1.constraint_region_orientation
02152         _x = _v108
02153         start = end
02154         end += 32
02155         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02156         start = end
02157         end += 8
02158         (val1.weight,) = _struct_d.unpack(str[start:end])
02159         self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
02160       start = end
02161       end += 4
02162       (length,) = _struct_I.unpack(str[start:end])
02163       self.goal.motion_plan_request.goal_constraints.orientation_constraints = []
02164       for i in range(0, length):
02165         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02166         _v109 = val1.header
02167         start = end
02168         end += 4
02169         (_v109.seq,) = _struct_I.unpack(str[start:end])
02170         _v110 = _v109.stamp
02171         _x = _v110
02172         start = end
02173         end += 8
02174         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02175         start = end
02176         end += 4
02177         (length,) = _struct_I.unpack(str[start:end])
02178         start = end
02179         end += length
02180         if python3:
02181           _v109.frame_id = str[start:end].decode('utf-8')
02182         else:
02183           _v109.frame_id = str[start:end]
02184         start = end
02185         end += 4
02186         (length,) = _struct_I.unpack(str[start:end])
02187         start = end
02188         end += length
02189         if python3:
02190           val1.link_name = str[start:end].decode('utf-8')
02191         else:
02192           val1.link_name = str[start:end]
02193         start = end
02194         end += 4
02195         (val1.type,) = _struct_i.unpack(str[start:end])
02196         _v111 = val1.orientation
02197         _x = _v111
02198         start = end
02199         end += 32
02200         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02201         _x = val1
02202         start = end
02203         end += 32
02204         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02205         self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
02206       start = end
02207       end += 4
02208       (length,) = _struct_I.unpack(str[start:end])
02209       self.goal.motion_plan_request.goal_constraints.visibility_constraints = []
02210       for i in range(0, length):
02211         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02212         _v112 = val1.header
02213         start = end
02214         end += 4
02215         (_v112.seq,) = _struct_I.unpack(str[start:end])
02216         _v113 = _v112.stamp
02217         _x = _v113
02218         start = end
02219         end += 8
02220         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02221         start = end
02222         end += 4
02223         (length,) = _struct_I.unpack(str[start:end])
02224         start = end
02225         end += length
02226         if python3:
02227           _v112.frame_id = str[start:end].decode('utf-8')
02228         else:
02229           _v112.frame_id = str[start:end]
02230         _v114 = val1.target
02231         _v115 = _v114.header
02232         start = end
02233         end += 4
02234         (_v115.seq,) = _struct_I.unpack(str[start:end])
02235         _v116 = _v115.stamp
02236         _x = _v116
02237         start = end
02238         end += 8
02239         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02240         start = end
02241         end += 4
02242         (length,) = _struct_I.unpack(str[start:end])
02243         start = end
02244         end += length
02245         if python3:
02246           _v115.frame_id = str[start:end].decode('utf-8')
02247         else:
02248           _v115.frame_id = str[start:end]
02249         _v117 = _v114.point
02250         _x = _v117
02251         start = end
02252         end += 24
02253         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02254         _v118 = val1.sensor_pose
02255         _v119 = _v118.header
02256         start = end
02257         end += 4
02258         (_v119.seq,) = _struct_I.unpack(str[start:end])
02259         _v120 = _v119.stamp
02260         _x = _v120
02261         start = end
02262         end += 8
02263         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02264         start = end
02265         end += 4
02266         (length,) = _struct_I.unpack(str[start:end])
02267         start = end
02268         end += length
02269         if python3:
02270           _v119.frame_id = str[start:end].decode('utf-8')
02271         else:
02272           _v119.frame_id = str[start:end]
02273         _v121 = _v118.pose
02274         _v122 = _v121.position
02275         _x = _v122
02276         start = end
02277         end += 24
02278         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02279         _v123 = _v121.orientation
02280         _x = _v123
02281         start = end
02282         end += 32
02283         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02284         start = end
02285         end += 8
02286         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02287         self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
02288       start = end
02289       end += 4
02290       (length,) = _struct_I.unpack(str[start:end])
02291       self.goal.motion_plan_request.path_constraints.joint_constraints = []
02292       for i in range(0, length):
02293         val1 = arm_navigation_msgs.msg.JointConstraint()
02294         start = end
02295         end += 4
02296         (length,) = _struct_I.unpack(str[start:end])
02297         start = end
02298         end += length
02299         if python3:
02300           val1.joint_name = str[start:end].decode('utf-8')
02301         else:
02302           val1.joint_name = str[start:end]
02303         _x = val1
02304         start = end
02305         end += 32
02306         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02307         self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
02308       start = end
02309       end += 4
02310       (length,) = _struct_I.unpack(str[start:end])
02311       self.goal.motion_plan_request.path_constraints.position_constraints = []
02312       for i in range(0, length):
02313         val1 = arm_navigation_msgs.msg.PositionConstraint()
02314         _v124 = val1.header
02315         start = end
02316         end += 4
02317         (_v124.seq,) = _struct_I.unpack(str[start:end])
02318         _v125 = _v124.stamp
02319         _x = _v125
02320         start = end
02321         end += 8
02322         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02323         start = end
02324         end += 4
02325         (length,) = _struct_I.unpack(str[start:end])
02326         start = end
02327         end += length
02328         if python3:
02329           _v124.frame_id = str[start:end].decode('utf-8')
02330         else:
02331           _v124.frame_id = str[start:end]
02332         start = end
02333         end += 4
02334         (length,) = _struct_I.unpack(str[start:end])
02335         start = end
02336         end += length
02337         if python3:
02338           val1.link_name = str[start:end].decode('utf-8')
02339         else:
02340           val1.link_name = str[start:end]
02341         _v126 = val1.target_point_offset
02342         _x = _v126
02343         start = end
02344         end += 24
02345         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02346         _v127 = val1.position
02347         _x = _v127
02348         start = end
02349         end += 24
02350         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02351         _v128 = val1.constraint_region_shape
02352         start = end
02353         end += 1
02354         (_v128.type,) = _struct_b.unpack(str[start:end])
02355         start = end
02356         end += 4
02357         (length,) = _struct_I.unpack(str[start:end])
02358         pattern = '<%sd'%length
02359         start = end
02360         end += struct.calcsize(pattern)
02361         _v128.dimensions = struct.unpack(pattern, str[start:end])
02362         start = end
02363         end += 4
02364         (length,) = _struct_I.unpack(str[start:end])
02365         pattern = '<%si'%length
02366         start = end
02367         end += struct.calcsize(pattern)
02368         _v128.triangles = struct.unpack(pattern, str[start:end])
02369         start = end
02370         end += 4
02371         (length,) = _struct_I.unpack(str[start:end])
02372         _v128.vertices = []
02373         for i in range(0, length):
02374           val3 = geometry_msgs.msg.Point()
02375           _x = val3
02376           start = end
02377           end += 24
02378           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02379           _v128.vertices.append(val3)
02380         _v129 = val1.constraint_region_orientation
02381         _x = _v129
02382         start = end
02383         end += 32
02384         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02385         start = end
02386         end += 8
02387         (val1.weight,) = _struct_d.unpack(str[start:end])
02388         self.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
02389       start = end
02390       end += 4
02391       (length,) = _struct_I.unpack(str[start:end])
02392       self.goal.motion_plan_request.path_constraints.orientation_constraints = []
02393       for i in range(0, length):
02394         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02395         _v130 = val1.header
02396         start = end
02397         end += 4
02398         (_v130.seq,) = _struct_I.unpack(str[start:end])
02399         _v131 = _v130.stamp
02400         _x = _v131
02401         start = end
02402         end += 8
02403         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02404         start = end
02405         end += 4
02406         (length,) = _struct_I.unpack(str[start:end])
02407         start = end
02408         end += length
02409         if python3:
02410           _v130.frame_id = str[start:end].decode('utf-8')
02411         else:
02412           _v130.frame_id = str[start:end]
02413         start = end
02414         end += 4
02415         (length,) = _struct_I.unpack(str[start:end])
02416         start = end
02417         end += length
02418         if python3:
02419           val1.link_name = str[start:end].decode('utf-8')
02420         else:
02421           val1.link_name = str[start:end]
02422         start = end
02423         end += 4
02424         (val1.type,) = _struct_i.unpack(str[start:end])
02425         _v132 = val1.orientation
02426         _x = _v132
02427         start = end
02428         end += 32
02429         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02430         _x = val1
02431         start = end
02432         end += 32
02433         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02434         self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
02435       start = end
02436       end += 4
02437       (length,) = _struct_I.unpack(str[start:end])
02438       self.goal.motion_plan_request.path_constraints.visibility_constraints = []
02439       for i in range(0, length):
02440         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02441         _v133 = val1.header
02442         start = end
02443         end += 4
02444         (_v133.seq,) = _struct_I.unpack(str[start:end])
02445         _v134 = _v133.stamp
02446         _x = _v134
02447         start = end
02448         end += 8
02449         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02450         start = end
02451         end += 4
02452         (length,) = _struct_I.unpack(str[start:end])
02453         start = end
02454         end += length
02455         if python3:
02456           _v133.frame_id = str[start:end].decode('utf-8')
02457         else:
02458           _v133.frame_id = str[start:end]
02459         _v135 = val1.target
02460         _v136 = _v135.header
02461         start = end
02462         end += 4
02463         (_v136.seq,) = _struct_I.unpack(str[start:end])
02464         _v137 = _v136.stamp
02465         _x = _v137
02466         start = end
02467         end += 8
02468         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02469         start = end
02470         end += 4
02471         (length,) = _struct_I.unpack(str[start:end])
02472         start = end
02473         end += length
02474         if python3:
02475           _v136.frame_id = str[start:end].decode('utf-8')
02476         else:
02477           _v136.frame_id = str[start:end]
02478         _v138 = _v135.point
02479         _x = _v138
02480         start = end
02481         end += 24
02482         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02483         _v139 = val1.sensor_pose
02484         _v140 = _v139.header
02485         start = end
02486         end += 4
02487         (_v140.seq,) = _struct_I.unpack(str[start:end])
02488         _v141 = _v140.stamp
02489         _x = _v141
02490         start = end
02491         end += 8
02492         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02493         start = end
02494         end += 4
02495         (length,) = _struct_I.unpack(str[start:end])
02496         start = end
02497         end += length
02498         if python3:
02499           _v140.frame_id = str[start:end].decode('utf-8')
02500         else:
02501           _v140.frame_id = str[start:end]
02502         _v142 = _v139.pose
02503         _v143 = _v142.position
02504         _x = _v143
02505         start = end
02506         end += 24
02507         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02508         _v144 = _v142.orientation
02509         _x = _v144
02510         start = end
02511         end += 32
02512         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02513         start = end
02514         end += 8
02515         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02516         self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
02517       start = end
02518       end += 4
02519       (length,) = _struct_I.unpack(str[start:end])
02520       start = end
02521       end += length
02522       if python3:
02523         self.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
02524       else:
02525         self.goal.motion_plan_request.planner_id = str[start:end]
02526       start = end
02527       end += 4
02528       (length,) = _struct_I.unpack(str[start:end])
02529       start = end
02530       end += length
02531       if python3:
02532         self.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
02533       else:
02534         self.goal.motion_plan_request.group_name = str[start:end]
02535       _x = self
02536       start = end
02537       end += 28
02538       (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
02539       start = end
02540       end += 4
02541       (length,) = _struct_I.unpack(str[start:end])
02542       self.goal.operations.collision_operations = []
02543       for i in range(0, length):
02544         val1 = arm_navigation_msgs.msg.CollisionOperation()
02545         start = end
02546         end += 4
02547         (length,) = _struct_I.unpack(str[start:end])
02548         start = end
02549         end += length
02550         if python3:
02551           val1.object1 = str[start:end].decode('utf-8')
02552         else:
02553           val1.object1 = str[start:end]
02554         start = end
02555         end += 4
02556         (length,) = _struct_I.unpack(str[start:end])
02557         start = end
02558         end += length
02559         if python3:
02560           val1.object2 = str[start:end].decode('utf-8')
02561         else:
02562           val1.object2 = str[start:end]
02563         _x = val1
02564         start = end
02565         end += 12
02566         (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
02567         self.goal.operations.collision_operations.append(val1)
02568       _x = self
02569       start = end
02570       end += 4
02571       (_x.goal.accept_partial_plans, _x.goal.accept_invalid_goals, _x.goal.disable_ik, _x.goal.disable_collision_monitoring,) = _struct_4B.unpack(str[start:end])
02572       self.goal.accept_partial_plans = bool(self.goal.accept_partial_plans)
02573       self.goal.accept_invalid_goals = bool(self.goal.accept_invalid_goals)
02574       self.goal.disable_ik = bool(self.goal.disable_ik)
02575       self.goal.disable_collision_monitoring = bool(self.goal.disable_collision_monitoring)
02576       return self
02577     except struct.error as e:
02578       raise genpy.DeserializationError(e) #most likely buffer underfill
02579 
02580 
02581   def serialize_numpy(self, buff, numpy):
02582     """
02583     serialize message with numpy array types into buffer
02584     :param buff: buffer, ``StringIO``
02585     :param numpy: numpy python module
02586     """
02587     try:
02588       _x = self
02589       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
02590       _x = self.header.frame_id
02591       length = len(_x)
02592       if python3 or type(_x) == unicode:
02593         _x = _x.encode('utf-8')
02594         length = len(_x)
02595       buff.write(struct.pack('<I%ss'%length, length, _x))
02596       _x = self
02597       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
02598       _x = self.goal_id.id
02599       length = len(_x)
02600       if python3 or type(_x) == unicode:
02601         _x = _x.encode('utf-8')
02602         length = len(_x)
02603       buff.write(struct.pack('<I%ss'%length, length, _x))
02604       _x = self.goal.planner_service_name
02605       length = len(_x)
02606       if python3 or type(_x) == unicode:
02607         _x = _x.encode('utf-8')
02608         length = len(_x)
02609       buff.write(struct.pack('<I%ss'%length, length, _x))
02610       _x = self
02611       buff.write(_struct_3I.pack(_x.goal.planning_scene_diff.robot_state.joint_state.header.seq, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
02612       _x = self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id
02613       length = len(_x)
02614       if python3 or type(_x) == unicode:
02615         _x = _x.encode('utf-8')
02616         length = len(_x)
02617       buff.write(struct.pack('<I%ss'%length, length, _x))
02618       length = len(self.goal.planning_scene_diff.robot_state.joint_state.name)
02619       buff.write(_struct_I.pack(length))
02620       for val1 in self.goal.planning_scene_diff.robot_state.joint_state.name:
02621         length = len(val1)
02622         if python3 or type(val1) == unicode:
02623           val1 = val1.encode('utf-8')
02624           length = len(val1)
02625         buff.write(struct.pack('<I%ss'%length, length, val1))
02626       length = len(self.goal.planning_scene_diff.robot_state.joint_state.position)
02627       buff.write(_struct_I.pack(length))
02628       pattern = '<%sd'%length
02629       buff.write(self.goal.planning_scene_diff.robot_state.joint_state.position.tostring())
02630       length = len(self.goal.planning_scene_diff.robot_state.joint_state.velocity)
02631       buff.write(_struct_I.pack(length))
02632       pattern = '<%sd'%length
02633       buff.write(self.goal.planning_scene_diff.robot_state.joint_state.velocity.tostring())
02634       length = len(self.goal.planning_scene_diff.robot_state.joint_state.effort)
02635       buff.write(_struct_I.pack(length))
02636       pattern = '<%sd'%length
02637       buff.write(self.goal.planning_scene_diff.robot_state.joint_state.effort.tostring())
02638       _x = self
02639       buff.write(_struct_2I.pack(_x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs))
02640       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
02641       buff.write(_struct_I.pack(length))
02642       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
02643         length = len(val1)
02644         if python3 or type(val1) == unicode:
02645           val1 = val1.encode('utf-8')
02646           length = len(val1)
02647         buff.write(struct.pack('<I%ss'%length, length, val1))
02648       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids)
02649       buff.write(_struct_I.pack(length))
02650       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:
02651         length = len(val1)
02652         if python3 or type(val1) == unicode:
02653           val1 = val1.encode('utf-8')
02654           length = len(val1)
02655         buff.write(struct.pack('<I%ss'%length, length, val1))
02656       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids)
02657       buff.write(_struct_I.pack(length))
02658       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:
02659         length = len(val1)
02660         if python3 or type(val1) == unicode:
02661           val1 = val1.encode('utf-8')
02662           length = len(val1)
02663         buff.write(struct.pack('<I%ss'%length, length, val1))
02664       length = len(self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses)
02665       buff.write(_struct_I.pack(length))
02666       for val1 in self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses:
02667         _v145 = val1.position
02668         _x = _v145
02669         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02670         _v146 = val1.orientation
02671         _x = _v146
02672         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02673       length = len(self.goal.planning_scene_diff.fixed_frame_transforms)
02674       buff.write(_struct_I.pack(length))
02675       for val1 in self.goal.planning_scene_diff.fixed_frame_transforms:
02676         _v147 = val1.header
02677         buff.write(_struct_I.pack(_v147.seq))
02678         _v148 = _v147.stamp
02679         _x = _v148
02680         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
02681         _x = _v147.frame_id
02682         length = len(_x)
02683         if python3 or type(_x) == unicode:
02684           _x = _x.encode('utf-8')
02685           length = len(_x)
02686         buff.write(struct.pack('<I%ss'%length, length, _x))
02687         _x = val1.child_frame_id
02688         length = len(_x)
02689         if python3 or type(_x) == unicode:
02690           _x = _x.encode('utf-8')
02691           length = len(_x)
02692         buff.write(struct.pack('<I%ss'%length, length, _x))
02693         _v149 = val1.transform
02694         _v150 = _v149.translation
02695         _x = _v150
02696         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02697         _v151 = _v149.rotation
02698         _x = _v151
02699         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02700       length = len(self.goal.planning_scene_diff.allowed_collision_matrix.link_names)
02701       buff.write(_struct_I.pack(length))
02702       for val1 in self.goal.planning_scene_diff.allowed_collision_matrix.link_names:
02703         length = len(val1)
02704         if python3 or type(val1) == unicode:
02705           val1 = val1.encode('utf-8')
02706           length = len(val1)
02707         buff.write(struct.pack('<I%ss'%length, length, val1))
02708       length = len(self.goal.planning_scene_diff.allowed_collision_matrix.entries)
02709       buff.write(_struct_I.pack(length))
02710       for val1 in self.goal.planning_scene_diff.allowed_collision_matrix.entries:
02711         length = len(val1.enabled)
02712         buff.write(_struct_I.pack(length))
02713         pattern = '<%sB'%length
02714         buff.write(val1.enabled.tostring())
02715       length = len(self.goal.planning_scene_diff.allowed_contacts)
02716       buff.write(_struct_I.pack(length))
02717       for val1 in self.goal.planning_scene_diff.allowed_contacts:
02718         _x = val1.name
02719         length = len(_x)
02720         if python3 or type(_x) == unicode:
02721           _x = _x.encode('utf-8')
02722           length = len(_x)
02723         buff.write(struct.pack('<I%ss'%length, length, _x))
02724         _v152 = val1.shape
02725         buff.write(_struct_b.pack(_v152.type))
02726         length = len(_v152.dimensions)
02727         buff.write(_struct_I.pack(length))
02728         pattern = '<%sd'%length
02729         buff.write(_v152.dimensions.tostring())
02730         length = len(_v152.triangles)
02731         buff.write(_struct_I.pack(length))
02732         pattern = '<%si'%length
02733         buff.write(_v152.triangles.tostring())
02734         length = len(_v152.vertices)
02735         buff.write(_struct_I.pack(length))
02736         for val3 in _v152.vertices:
02737           _x = val3
02738           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02739         _v153 = val1.pose_stamped
02740         _v154 = _v153.header
02741         buff.write(_struct_I.pack(_v154.seq))
02742         _v155 = _v154.stamp
02743         _x = _v155
02744         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
02745         _x = _v154.frame_id
02746         length = len(_x)
02747         if python3 or type(_x) == unicode:
02748           _x = _x.encode('utf-8')
02749           length = len(_x)
02750         buff.write(struct.pack('<I%ss'%length, length, _x))
02751         _v156 = _v153.pose
02752         _v157 = _v156.position
02753         _x = _v157
02754         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02755         _v158 = _v156.orientation
02756         _x = _v158
02757         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02758         length = len(val1.link_names)
02759         buff.write(_struct_I.pack(length))
02760         for val2 in val1.link_names:
02761           length = len(val2)
02762           if python3 or type(val2) == unicode:
02763             val2 = val2.encode('utf-8')
02764             length = len(val2)
02765           buff.write(struct.pack('<I%ss'%length, length, val2))
02766         buff.write(_struct_d.pack(val1.penetration_depth))
02767       length = len(self.goal.planning_scene_diff.link_padding)
02768       buff.write(_struct_I.pack(length))
02769       for val1 in self.goal.planning_scene_diff.link_padding:
02770         _x = val1.link_name
02771         length = len(_x)
02772         if python3 or type(_x) == unicode:
02773           _x = _x.encode('utf-8')
02774           length = len(_x)
02775         buff.write(struct.pack('<I%ss'%length, length, _x))
02776         buff.write(_struct_d.pack(val1.padding))
02777       length = len(self.goal.planning_scene_diff.collision_objects)
02778       buff.write(_struct_I.pack(length))
02779       for val1 in self.goal.planning_scene_diff.collision_objects:
02780         _v159 = val1.header
02781         buff.write(_struct_I.pack(_v159.seq))
02782         _v160 = _v159.stamp
02783         _x = _v160
02784         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
02785         _x = _v159.frame_id
02786         length = len(_x)
02787         if python3 or type(_x) == unicode:
02788           _x = _x.encode('utf-8')
02789           length = len(_x)
02790         buff.write(struct.pack('<I%ss'%length, length, _x))
02791         _x = val1.id
02792         length = len(_x)
02793         if python3 or type(_x) == unicode:
02794           _x = _x.encode('utf-8')
02795           length = len(_x)
02796         buff.write(struct.pack('<I%ss'%length, length, _x))
02797         buff.write(_struct_f.pack(val1.padding))
02798         _v161 = val1.operation
02799         buff.write(_struct_b.pack(_v161.operation))
02800         length = len(val1.shapes)
02801         buff.write(_struct_I.pack(length))
02802         for val2 in val1.shapes:
02803           buff.write(_struct_b.pack(val2.type))
02804           length = len(val2.dimensions)
02805           buff.write(_struct_I.pack(length))
02806           pattern = '<%sd'%length
02807           buff.write(val2.dimensions.tostring())
02808           length = len(val2.triangles)
02809           buff.write(_struct_I.pack(length))
02810           pattern = '<%si'%length
02811           buff.write(val2.triangles.tostring())
02812           length = len(val2.vertices)
02813           buff.write(_struct_I.pack(length))
02814           for val3 in val2.vertices:
02815             _x = val3
02816             buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02817         length = len(val1.poses)
02818         buff.write(_struct_I.pack(length))
02819         for val2 in val1.poses:
02820           _v162 = val2.position
02821           _x = _v162
02822           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02823           _v163 = val2.orientation
02824           _x = _v163
02825           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02826       length = len(self.goal.planning_scene_diff.attached_collision_objects)
02827       buff.write(_struct_I.pack(length))
02828       for val1 in self.goal.planning_scene_diff.attached_collision_objects:
02829         _x = val1.link_name
02830         length = len(_x)
02831         if python3 or type(_x) == unicode:
02832           _x = _x.encode('utf-8')
02833           length = len(_x)
02834         buff.write(struct.pack('<I%ss'%length, length, _x))
02835         _v164 = val1.object
02836         _v165 = _v164.header
02837         buff.write(_struct_I.pack(_v165.seq))
02838         _v166 = _v165.stamp
02839         _x = _v166
02840         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
02841         _x = _v165.frame_id
02842         length = len(_x)
02843         if python3 or type(_x) == unicode:
02844           _x = _x.encode('utf-8')
02845           length = len(_x)
02846         buff.write(struct.pack('<I%ss'%length, length, _x))
02847         _x = _v164.id
02848         length = len(_x)
02849         if python3 or type(_x) == unicode:
02850           _x = _x.encode('utf-8')
02851           length = len(_x)
02852         buff.write(struct.pack('<I%ss'%length, length, _x))
02853         buff.write(_struct_f.pack(_v164.padding))
02854         _v167 = _v164.operation
02855         buff.write(_struct_b.pack(_v167.operation))
02856         length = len(_v164.shapes)
02857         buff.write(_struct_I.pack(length))
02858         for val3 in _v164.shapes:
02859           buff.write(_struct_b.pack(val3.type))
02860           length = len(val3.dimensions)
02861           buff.write(_struct_I.pack(length))
02862           pattern = '<%sd'%length
02863           buff.write(val3.dimensions.tostring())
02864           length = len(val3.triangles)
02865           buff.write(_struct_I.pack(length))
02866           pattern = '<%si'%length
02867           buff.write(val3.triangles.tostring())
02868           length = len(val3.vertices)
02869           buff.write(_struct_I.pack(length))
02870           for val4 in val3.vertices:
02871             _x = val4
02872             buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02873         length = len(_v164.poses)
02874         buff.write(_struct_I.pack(length))
02875         for val3 in _v164.poses:
02876           _v168 = val3.position
02877           _x = _v168
02878           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02879           _v169 = val3.orientation
02880           _x = _v169
02881           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02882         length = len(val1.touch_links)
02883         buff.write(_struct_I.pack(length))
02884         for val2 in val1.touch_links:
02885           length = len(val2)
02886           if python3 or type(val2) == unicode:
02887             val2 = val2.encode('utf-8')
02888             length = len(val2)
02889           buff.write(struct.pack('<I%ss'%length, length, val2))
02890       _x = self
02891       buff.write(_struct_3I.pack(_x.goal.planning_scene_diff.collision_map.header.seq, _x.goal.planning_scene_diff.collision_map.header.stamp.secs, _x.goal.planning_scene_diff.collision_map.header.stamp.nsecs))
02892       _x = self.goal.planning_scene_diff.collision_map.header.frame_id
02893       length = len(_x)
02894       if python3 or type(_x) == unicode:
02895         _x = _x.encode('utf-8')
02896         length = len(_x)
02897       buff.write(struct.pack('<I%ss'%length, length, _x))
02898       length = len(self.goal.planning_scene_diff.collision_map.boxes)
02899       buff.write(_struct_I.pack(length))
02900       for val1 in self.goal.planning_scene_diff.collision_map.boxes:
02901         _v170 = val1.center
02902         _x = _v170
02903         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
02904         _v171 = val1.extents
02905         _x = _v171
02906         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
02907         _v172 = val1.axis
02908         _x = _v172
02909         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
02910         buff.write(_struct_f.pack(val1.angle))
02911       buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
02912       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
02913       buff.write(_struct_I.pack(length))
02914       pattern = '<%sd'%length
02915       buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions.tostring())
02916       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
02917       buff.write(_struct_I.pack(length))
02918       pattern = '<%si'%length
02919       buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles.tostring())
02920       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
02921       buff.write(_struct_I.pack(length))
02922       for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
02923         _x = val1
02924         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02925       _x = self
02926       buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
02927       _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
02928       length = len(_x)
02929       if python3 or type(_x) == unicode:
02930         _x = _x.encode('utf-8')
02931         length = len(_x)
02932       buff.write(struct.pack('<I%ss'%length, length, _x))
02933       _x = self
02934       buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
02935       _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id
02936       length = len(_x)
02937       if python3 or type(_x) == unicode:
02938         _x = _x.encode('utf-8')
02939         length = len(_x)
02940       buff.write(struct.pack('<I%ss'%length, length, _x))
02941       length = len(self.goal.motion_plan_request.start_state.joint_state.name)
02942       buff.write(_struct_I.pack(length))
02943       for val1 in self.goal.motion_plan_request.start_state.joint_state.name:
02944         length = len(val1)
02945         if python3 or type(val1) == unicode:
02946           val1 = val1.encode('utf-8')
02947           length = len(val1)
02948         buff.write(struct.pack('<I%ss'%length, length, val1))
02949       length = len(self.goal.motion_plan_request.start_state.joint_state.position)
02950       buff.write(_struct_I.pack(length))
02951       pattern = '<%sd'%length
02952       buff.write(self.goal.motion_plan_request.start_state.joint_state.position.tostring())
02953       length = len(self.goal.motion_plan_request.start_state.joint_state.velocity)
02954       buff.write(_struct_I.pack(length))
02955       pattern = '<%sd'%length
02956       buff.write(self.goal.motion_plan_request.start_state.joint_state.velocity.tostring())
02957       length = len(self.goal.motion_plan_request.start_state.joint_state.effort)
02958       buff.write(_struct_I.pack(length))
02959       pattern = '<%sd'%length
02960       buff.write(self.goal.motion_plan_request.start_state.joint_state.effort.tostring())
02961       _x = self
02962       buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
02963       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
02964       buff.write(_struct_I.pack(length))
02965       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
02966         length = len(val1)
02967         if python3 or type(val1) == unicode:
02968           val1 = val1.encode('utf-8')
02969           length = len(val1)
02970         buff.write(struct.pack('<I%ss'%length, length, val1))
02971       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
02972       buff.write(_struct_I.pack(length))
02973       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
02974         length = len(val1)
02975         if python3 or type(val1) == unicode:
02976           val1 = val1.encode('utf-8')
02977           length = len(val1)
02978         buff.write(struct.pack('<I%ss'%length, length, val1))
02979       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
02980       buff.write(_struct_I.pack(length))
02981       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
02982         length = len(val1)
02983         if python3 or type(val1) == unicode:
02984           val1 = val1.encode('utf-8')
02985           length = len(val1)
02986         buff.write(struct.pack('<I%ss'%length, length, val1))
02987       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
02988       buff.write(_struct_I.pack(length))
02989       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
02990         _v173 = val1.position
02991         _x = _v173
02992         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02993         _v174 = val1.orientation
02994         _x = _v174
02995         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02996       length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints)
02997       buff.write(_struct_I.pack(length))
02998       for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints:
02999         _x = val1.joint_name
03000         length = len(_x)
03001         if python3 or type(_x) == unicode:
03002           _x = _x.encode('utf-8')
03003           length = len(_x)
03004         buff.write(struct.pack('<I%ss'%length, length, _x))
03005         _x = val1
03006         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
03007       length = len(self.goal.motion_plan_request.goal_constraints.position_constraints)
03008       buff.write(_struct_I.pack(length))
03009       for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints:
03010         _v175 = val1.header
03011         buff.write(_struct_I.pack(_v175.seq))
03012         _v176 = _v175.stamp
03013         _x = _v176
03014         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03015         _x = _v175.frame_id
03016         length = len(_x)
03017         if python3 or type(_x) == unicode:
03018           _x = _x.encode('utf-8')
03019           length = len(_x)
03020         buff.write(struct.pack('<I%ss'%length, length, _x))
03021         _x = val1.link_name
03022         length = len(_x)
03023         if python3 or type(_x) == unicode:
03024           _x = _x.encode('utf-8')
03025           length = len(_x)
03026         buff.write(struct.pack('<I%ss'%length, length, _x))
03027         _v177 = val1.target_point_offset
03028         _x = _v177
03029         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03030         _v178 = val1.position
03031         _x = _v178
03032         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03033         _v179 = val1.constraint_region_shape
03034         buff.write(_struct_b.pack(_v179.type))
03035         length = len(_v179.dimensions)
03036         buff.write(_struct_I.pack(length))
03037         pattern = '<%sd'%length
03038         buff.write(_v179.dimensions.tostring())
03039         length = len(_v179.triangles)
03040         buff.write(_struct_I.pack(length))
03041         pattern = '<%si'%length
03042         buff.write(_v179.triangles.tostring())
03043         length = len(_v179.vertices)
03044         buff.write(_struct_I.pack(length))
03045         for val3 in _v179.vertices:
03046           _x = val3
03047           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03048         _v180 = val1.constraint_region_orientation
03049         _x = _v180
03050         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03051         buff.write(_struct_d.pack(val1.weight))
03052       length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints)
03053       buff.write(_struct_I.pack(length))
03054       for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints:
03055         _v181 = val1.header
03056         buff.write(_struct_I.pack(_v181.seq))
03057         _v182 = _v181.stamp
03058         _x = _v182
03059         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03060         _x = _v181.frame_id
03061         length = len(_x)
03062         if python3 or type(_x) == unicode:
03063           _x = _x.encode('utf-8')
03064           length = len(_x)
03065         buff.write(struct.pack('<I%ss'%length, length, _x))
03066         _x = val1.link_name
03067         length = len(_x)
03068         if python3 or type(_x) == unicode:
03069           _x = _x.encode('utf-8')
03070           length = len(_x)
03071         buff.write(struct.pack('<I%ss'%length, length, _x))
03072         buff.write(_struct_i.pack(val1.type))
03073         _v183 = val1.orientation
03074         _x = _v183
03075         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03076         _x = val1
03077         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
03078       length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints)
03079       buff.write(_struct_I.pack(length))
03080       for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints:
03081         _v184 = val1.header
03082         buff.write(_struct_I.pack(_v184.seq))
03083         _v185 = _v184.stamp
03084         _x = _v185
03085         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03086         _x = _v184.frame_id
03087         length = len(_x)
03088         if python3 or type(_x) == unicode:
03089           _x = _x.encode('utf-8')
03090           length = len(_x)
03091         buff.write(struct.pack('<I%ss'%length, length, _x))
03092         _v186 = val1.target
03093         _v187 = _v186.header
03094         buff.write(_struct_I.pack(_v187.seq))
03095         _v188 = _v187.stamp
03096         _x = _v188
03097         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03098         _x = _v187.frame_id
03099         length = len(_x)
03100         if python3 or type(_x) == unicode:
03101           _x = _x.encode('utf-8')
03102           length = len(_x)
03103         buff.write(struct.pack('<I%ss'%length, length, _x))
03104         _v189 = _v186.point
03105         _x = _v189
03106         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03107         _v190 = val1.sensor_pose
03108         _v191 = _v190.header
03109         buff.write(_struct_I.pack(_v191.seq))
03110         _v192 = _v191.stamp
03111         _x = _v192
03112         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03113         _x = _v191.frame_id
03114         length = len(_x)
03115         if python3 or type(_x) == unicode:
03116           _x = _x.encode('utf-8')
03117           length = len(_x)
03118         buff.write(struct.pack('<I%ss'%length, length, _x))
03119         _v193 = _v190.pose
03120         _v194 = _v193.position
03121         _x = _v194
03122         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03123         _v195 = _v193.orientation
03124         _x = _v195
03125         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03126         buff.write(_struct_d.pack(val1.absolute_tolerance))
03127       length = len(self.goal.motion_plan_request.path_constraints.joint_constraints)
03128       buff.write(_struct_I.pack(length))
03129       for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints:
03130         _x = val1.joint_name
03131         length = len(_x)
03132         if python3 or type(_x) == unicode:
03133           _x = _x.encode('utf-8')
03134           length = len(_x)
03135         buff.write(struct.pack('<I%ss'%length, length, _x))
03136         _x = val1
03137         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
03138       length = len(self.goal.motion_plan_request.path_constraints.position_constraints)
03139       buff.write(_struct_I.pack(length))
03140       for val1 in self.goal.motion_plan_request.path_constraints.position_constraints:
03141         _v196 = val1.header
03142         buff.write(_struct_I.pack(_v196.seq))
03143         _v197 = _v196.stamp
03144         _x = _v197
03145         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03146         _x = _v196.frame_id
03147         length = len(_x)
03148         if python3 or type(_x) == unicode:
03149           _x = _x.encode('utf-8')
03150           length = len(_x)
03151         buff.write(struct.pack('<I%ss'%length, length, _x))
03152         _x = val1.link_name
03153         length = len(_x)
03154         if python3 or type(_x) == unicode:
03155           _x = _x.encode('utf-8')
03156           length = len(_x)
03157         buff.write(struct.pack('<I%ss'%length, length, _x))
03158         _v198 = val1.target_point_offset
03159         _x = _v198
03160         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03161         _v199 = val1.position
03162         _x = _v199
03163         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03164         _v200 = val1.constraint_region_shape
03165         buff.write(_struct_b.pack(_v200.type))
03166         length = len(_v200.dimensions)
03167         buff.write(_struct_I.pack(length))
03168         pattern = '<%sd'%length
03169         buff.write(_v200.dimensions.tostring())
03170         length = len(_v200.triangles)
03171         buff.write(_struct_I.pack(length))
03172         pattern = '<%si'%length
03173         buff.write(_v200.triangles.tostring())
03174         length = len(_v200.vertices)
03175         buff.write(_struct_I.pack(length))
03176         for val3 in _v200.vertices:
03177           _x = val3
03178           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03179         _v201 = val1.constraint_region_orientation
03180         _x = _v201
03181         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03182         buff.write(_struct_d.pack(val1.weight))
03183       length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints)
03184       buff.write(_struct_I.pack(length))
03185       for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints:
03186         _v202 = val1.header
03187         buff.write(_struct_I.pack(_v202.seq))
03188         _v203 = _v202.stamp
03189         _x = _v203
03190         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03191         _x = _v202.frame_id
03192         length = len(_x)
03193         if python3 or type(_x) == unicode:
03194           _x = _x.encode('utf-8')
03195           length = len(_x)
03196         buff.write(struct.pack('<I%ss'%length, length, _x))
03197         _x = val1.link_name
03198         length = len(_x)
03199         if python3 or type(_x) == unicode:
03200           _x = _x.encode('utf-8')
03201           length = len(_x)
03202         buff.write(struct.pack('<I%ss'%length, length, _x))
03203         buff.write(_struct_i.pack(val1.type))
03204         _v204 = val1.orientation
03205         _x = _v204
03206         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03207         _x = val1
03208         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
03209       length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints)
03210       buff.write(_struct_I.pack(length))
03211       for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints:
03212         _v205 = val1.header
03213         buff.write(_struct_I.pack(_v205.seq))
03214         _v206 = _v205.stamp
03215         _x = _v206
03216         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03217         _x = _v205.frame_id
03218         length = len(_x)
03219         if python3 or type(_x) == unicode:
03220           _x = _x.encode('utf-8')
03221           length = len(_x)
03222         buff.write(struct.pack('<I%ss'%length, length, _x))
03223         _v207 = val1.target
03224         _v208 = _v207.header
03225         buff.write(_struct_I.pack(_v208.seq))
03226         _v209 = _v208.stamp
03227         _x = _v209
03228         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03229         _x = _v208.frame_id
03230         length = len(_x)
03231         if python3 or type(_x) == unicode:
03232           _x = _x.encode('utf-8')
03233           length = len(_x)
03234         buff.write(struct.pack('<I%ss'%length, length, _x))
03235         _v210 = _v207.point
03236         _x = _v210
03237         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03238         _v211 = val1.sensor_pose
03239         _v212 = _v211.header
03240         buff.write(_struct_I.pack(_v212.seq))
03241         _v213 = _v212.stamp
03242         _x = _v213
03243         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
03244         _x = _v212.frame_id
03245         length = len(_x)
03246         if python3 or type(_x) == unicode:
03247           _x = _x.encode('utf-8')
03248           length = len(_x)
03249         buff.write(struct.pack('<I%ss'%length, length, _x))
03250         _v214 = _v211.pose
03251         _v215 = _v214.position
03252         _x = _v215
03253         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
03254         _v216 = _v214.orientation
03255         _x = _v216
03256         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
03257         buff.write(_struct_d.pack(val1.absolute_tolerance))
03258       _x = self.goal.motion_plan_request.planner_id
03259       length = len(_x)
03260       if python3 or type(_x) == unicode:
03261         _x = _x.encode('utf-8')
03262         length = len(_x)
03263       buff.write(struct.pack('<I%ss'%length, length, _x))
03264       _x = self.goal.motion_plan_request.group_name
03265       length = len(_x)
03266       if python3 or type(_x) == unicode:
03267         _x = _x.encode('utf-8')
03268         length = len(_x)
03269       buff.write(struct.pack('<I%ss'%length, length, _x))
03270       _x = self
03271       buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs))
03272       length = len(self.goal.operations.collision_operations)
03273       buff.write(_struct_I.pack(length))
03274       for val1 in self.goal.operations.collision_operations:
03275         _x = val1.object1
03276         length = len(_x)
03277         if python3 or type(_x) == unicode:
03278           _x = _x.encode('utf-8')
03279           length = len(_x)
03280         buff.write(struct.pack('<I%ss'%length, length, _x))
03281         _x = val1.object2
03282         length = len(_x)
03283         if python3 or type(_x) == unicode:
03284           _x = _x.encode('utf-8')
03285           length = len(_x)
03286         buff.write(struct.pack('<I%ss'%length, length, _x))
03287         _x = val1
03288         buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
03289       _x = self
03290       buff.write(_struct_4B.pack(_x.goal.accept_partial_plans, _x.goal.accept_invalid_goals, _x.goal.disable_ik, _x.goal.disable_collision_monitoring))
03291     except struct.error as se: self._check_types(se)
03292     except TypeError as te: self._check_types(te)
03293 
03294   def deserialize_numpy(self, str, numpy):
03295     """
03296     unpack serialized message in str into this message instance using numpy for array types
03297     :param str: byte array of serialized message, ``str``
03298     :param numpy: numpy python module
03299     """
03300     try:
03301       if self.header is None:
03302         self.header = std_msgs.msg.Header()
03303       if self.goal_id is None:
03304         self.goal_id = actionlib_msgs.msg.GoalID()
03305       if self.goal is None:
03306         self.goal = arm_navigation_msgs.msg.MoveArmGoal()
03307       end = 0
03308       _x = self
03309       start = end
03310       end += 12
03311       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
03312       start = end
03313       end += 4
03314       (length,) = _struct_I.unpack(str[start:end])
03315       start = end
03316       end += length
03317       if python3:
03318         self.header.frame_id = str[start:end].decode('utf-8')
03319       else:
03320         self.header.frame_id = str[start:end]
03321       _x = self
03322       start = end
03323       end += 8
03324       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
03325       start = end
03326       end += 4
03327       (length,) = _struct_I.unpack(str[start:end])
03328       start = end
03329       end += length
03330       if python3:
03331         self.goal_id.id = str[start:end].decode('utf-8')
03332       else:
03333         self.goal_id.id = str[start:end]
03334       start = end
03335       end += 4
03336       (length,) = _struct_I.unpack(str[start:end])
03337       start = end
03338       end += length
03339       if python3:
03340         self.goal.planner_service_name = str[start:end].decode('utf-8')
03341       else:
03342         self.goal.planner_service_name = str[start:end]
03343       _x = self
03344       start = end
03345       end += 12
03346       (_x.goal.planning_scene_diff.robot_state.joint_state.header.seq, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.goal.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
03347       start = end
03348       end += 4
03349       (length,) = _struct_I.unpack(str[start:end])
03350       start = end
03351       end += length
03352       if python3:
03353         self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
03354       else:
03355         self.goal.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
03356       start = end
03357       end += 4
03358       (length,) = _struct_I.unpack(str[start:end])
03359       self.goal.planning_scene_diff.robot_state.joint_state.name = []
03360       for i in range(0, length):
03361         start = end
03362         end += 4
03363         (length,) = _struct_I.unpack(str[start:end])
03364         start = end
03365         end += length
03366         if python3:
03367           val1 = str[start:end].decode('utf-8')
03368         else:
03369           val1 = str[start:end]
03370         self.goal.planning_scene_diff.robot_state.joint_state.name.append(val1)
03371       start = end
03372       end += 4
03373       (length,) = _struct_I.unpack(str[start:end])
03374       pattern = '<%sd'%length
03375       start = end
03376       end += struct.calcsize(pattern)
03377       self.goal.planning_scene_diff.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03378       start = end
03379       end += 4
03380       (length,) = _struct_I.unpack(str[start:end])
03381       pattern = '<%sd'%length
03382       start = end
03383       end += struct.calcsize(pattern)
03384       self.goal.planning_scene_diff.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03385       start = end
03386       end += 4
03387       (length,) = _struct_I.unpack(str[start:end])
03388       pattern = '<%sd'%length
03389       start = end
03390       end += struct.calcsize(pattern)
03391       self.goal.planning_scene_diff.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03392       _x = self
03393       start = end
03394       end += 8
03395       (_x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.goal.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
03396       start = end
03397       end += 4
03398       (length,) = _struct_I.unpack(str[start:end])
03399       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
03400       for i in range(0, length):
03401         start = end
03402         end += 4
03403         (length,) = _struct_I.unpack(str[start:end])
03404         start = end
03405         end += length
03406         if python3:
03407           val1 = str[start:end].decode('utf-8')
03408         else:
03409           val1 = str[start:end]
03410         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
03411       start = end
03412       end += 4
03413       (length,) = _struct_I.unpack(str[start:end])
03414       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids = []
03415       for i in range(0, length):
03416         start = end
03417         end += 4
03418         (length,) = _struct_I.unpack(str[start:end])
03419         start = end
03420         end += length
03421         if python3:
03422           val1 = str[start:end].decode('utf-8')
03423         else:
03424           val1 = str[start:end]
03425         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(val1)
03426       start = end
03427       end += 4
03428       (length,) = _struct_I.unpack(str[start:end])
03429       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids = []
03430       for i in range(0, length):
03431         start = end
03432         end += 4
03433         (length,) = _struct_I.unpack(str[start:end])
03434         start = end
03435         end += length
03436         if python3:
03437           val1 = str[start:end].decode('utf-8')
03438         else:
03439           val1 = str[start:end]
03440         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
03441       start = end
03442       end += 4
03443       (length,) = _struct_I.unpack(str[start:end])
03444       self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses = []
03445       for i in range(0, length):
03446         val1 = geometry_msgs.msg.Pose()
03447         _v217 = val1.position
03448         _x = _v217
03449         start = end
03450         end += 24
03451         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03452         _v218 = val1.orientation
03453         _x = _v218
03454         start = end
03455         end += 32
03456         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
03457         self.goal.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(val1)
03458       start = end
03459       end += 4
03460       (length,) = _struct_I.unpack(str[start:end])
03461       self.goal.planning_scene_diff.fixed_frame_transforms = []
03462       for i in range(0, length):
03463         val1 = geometry_msgs.msg.TransformStamped()
03464         _v219 = val1.header
03465         start = end
03466         end += 4
03467         (_v219.seq,) = _struct_I.unpack(str[start:end])
03468         _v220 = _v219.stamp
03469         _x = _v220
03470         start = end
03471         end += 8
03472         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
03473         start = end
03474         end += 4
03475         (length,) = _struct_I.unpack(str[start:end])
03476         start = end
03477         end += length
03478         if python3:
03479           _v219.frame_id = str[start:end].decode('utf-8')
03480         else:
03481           _v219.frame_id = str[start:end]
03482         start = end
03483         end += 4
03484         (length,) = _struct_I.unpack(str[start:end])
03485         start = end
03486         end += length
03487         if python3:
03488           val1.child_frame_id = str[start:end].decode('utf-8')
03489         else:
03490           val1.child_frame_id = str[start:end]
03491         _v221 = val1.transform
03492         _v222 = _v221.translation
03493         _x = _v222
03494         start = end
03495         end += 24
03496         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03497         _v223 = _v221.rotation
03498         _x = _v223
03499         start = end
03500         end += 32
03501         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
03502         self.goal.planning_scene_diff.fixed_frame_transforms.append(val1)
03503       start = end
03504       end += 4
03505       (length,) = _struct_I.unpack(str[start:end])
03506       self.goal.planning_scene_diff.allowed_collision_matrix.link_names = []
03507       for i in range(0, length):
03508         start = end
03509         end += 4
03510         (length,) = _struct_I.unpack(str[start:end])
03511         start = end
03512         end += length
03513         if python3:
03514           val1 = str[start:end].decode('utf-8')
03515         else:
03516           val1 = str[start:end]
03517         self.goal.planning_scene_diff.allowed_collision_matrix.link_names.append(val1)
03518       start = end
03519       end += 4
03520       (length,) = _struct_I.unpack(str[start:end])
03521       self.goal.planning_scene_diff.allowed_collision_matrix.entries = []
03522       for i in range(0, length):
03523         val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
03524         start = end
03525         end += 4
03526         (length,) = _struct_I.unpack(str[start:end])
03527         pattern = '<%sB'%length
03528         start = end
03529         end += struct.calcsize(pattern)
03530         val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
03531         val1.enabled = map(bool, val1.enabled)
03532         self.goal.planning_scene_diff.allowed_collision_matrix.entries.append(val1)
03533       start = end
03534       end += 4
03535       (length,) = _struct_I.unpack(str[start:end])
03536       self.goal.planning_scene_diff.allowed_contacts = []
03537       for i in range(0, length):
03538         val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
03539         start = end
03540         end += 4
03541         (length,) = _struct_I.unpack(str[start:end])
03542         start = end
03543         end += length
03544         if python3:
03545           val1.name = str[start:end].decode('utf-8')
03546         else:
03547           val1.name = str[start:end]
03548         _v224 = val1.shape
03549         start = end
03550         end += 1
03551         (_v224.type,) = _struct_b.unpack(str[start:end])
03552         start = end
03553         end += 4
03554         (length,) = _struct_I.unpack(str[start:end])
03555         pattern = '<%sd'%length
03556         start = end
03557         end += struct.calcsize(pattern)
03558         _v224.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03559         start = end
03560         end += 4
03561         (length,) = _struct_I.unpack(str[start:end])
03562         pattern = '<%si'%length
03563         start = end
03564         end += struct.calcsize(pattern)
03565         _v224.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
03566         start = end
03567         end += 4
03568         (length,) = _struct_I.unpack(str[start:end])
03569         _v224.vertices = []
03570         for i in range(0, length):
03571           val3 = geometry_msgs.msg.Point()
03572           _x = val3
03573           start = end
03574           end += 24
03575           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03576           _v224.vertices.append(val3)
03577         _v225 = val1.pose_stamped
03578         _v226 = _v225.header
03579         start = end
03580         end += 4
03581         (_v226.seq,) = _struct_I.unpack(str[start:end])
03582         _v227 = _v226.stamp
03583         _x = _v227
03584         start = end
03585         end += 8
03586         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
03587         start = end
03588         end += 4
03589         (length,) = _struct_I.unpack(str[start:end])
03590         start = end
03591         end += length
03592         if python3:
03593           _v226.frame_id = str[start:end].decode('utf-8')
03594         else:
03595           _v226.frame_id = str[start:end]
03596         _v228 = _v225.pose
03597         _v229 = _v228.position
03598         _x = _v229
03599         start = end
03600         end += 24
03601         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03602         _v230 = _v228.orientation
03603         _x = _v230
03604         start = end
03605         end += 32
03606         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
03607         start = end
03608         end += 4
03609         (length,) = _struct_I.unpack(str[start:end])
03610         val1.link_names = []
03611         for i in range(0, length):
03612           start = end
03613           end += 4
03614           (length,) = _struct_I.unpack(str[start:end])
03615           start = end
03616           end += length
03617           if python3:
03618             val2 = str[start:end].decode('utf-8')
03619           else:
03620             val2 = str[start:end]
03621           val1.link_names.append(val2)
03622         start = end
03623         end += 8
03624         (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
03625         self.goal.planning_scene_diff.allowed_contacts.append(val1)
03626       start = end
03627       end += 4
03628       (length,) = _struct_I.unpack(str[start:end])
03629       self.goal.planning_scene_diff.link_padding = []
03630       for i in range(0, length):
03631         val1 = arm_navigation_msgs.msg.LinkPadding()
03632         start = end
03633         end += 4
03634         (length,) = _struct_I.unpack(str[start:end])
03635         start = end
03636         end += length
03637         if python3:
03638           val1.link_name = str[start:end].decode('utf-8')
03639         else:
03640           val1.link_name = str[start:end]
03641         start = end
03642         end += 8
03643         (val1.padding,) = _struct_d.unpack(str[start:end])
03644         self.goal.planning_scene_diff.link_padding.append(val1)
03645       start = end
03646       end += 4
03647       (length,) = _struct_I.unpack(str[start:end])
03648       self.goal.planning_scene_diff.collision_objects = []
03649       for i in range(0, length):
03650         val1 = arm_navigation_msgs.msg.CollisionObject()
03651         _v231 = val1.header
03652         start = end
03653         end += 4
03654         (_v231.seq,) = _struct_I.unpack(str[start:end])
03655         _v232 = _v231.stamp
03656         _x = _v232
03657         start = end
03658         end += 8
03659         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
03660         start = end
03661         end += 4
03662         (length,) = _struct_I.unpack(str[start:end])
03663         start = end
03664         end += length
03665         if python3:
03666           _v231.frame_id = str[start:end].decode('utf-8')
03667         else:
03668           _v231.frame_id = str[start:end]
03669         start = end
03670         end += 4
03671         (length,) = _struct_I.unpack(str[start:end])
03672         start = end
03673         end += length
03674         if python3:
03675           val1.id = str[start:end].decode('utf-8')
03676         else:
03677           val1.id = str[start:end]
03678         start = end
03679         end += 4
03680         (val1.padding,) = _struct_f.unpack(str[start:end])
03681         _v233 = val1.operation
03682         start = end
03683         end += 1
03684         (_v233.operation,) = _struct_b.unpack(str[start:end])
03685         start = end
03686         end += 4
03687         (length,) = _struct_I.unpack(str[start:end])
03688         val1.shapes = []
03689         for i in range(0, length):
03690           val2 = arm_navigation_msgs.msg.Shape()
03691           start = end
03692           end += 1
03693           (val2.type,) = _struct_b.unpack(str[start:end])
03694           start = end
03695           end += 4
03696           (length,) = _struct_I.unpack(str[start:end])
03697           pattern = '<%sd'%length
03698           start = end
03699           end += struct.calcsize(pattern)
03700           val2.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03701           start = end
03702           end += 4
03703           (length,) = _struct_I.unpack(str[start:end])
03704           pattern = '<%si'%length
03705           start = end
03706           end += struct.calcsize(pattern)
03707           val2.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
03708           start = end
03709           end += 4
03710           (length,) = _struct_I.unpack(str[start:end])
03711           val2.vertices = []
03712           for i in range(0, length):
03713             val3 = geometry_msgs.msg.Point()
03714             _x = val3
03715             start = end
03716             end += 24
03717             (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03718             val2.vertices.append(val3)
03719           val1.shapes.append(val2)
03720         start = end
03721         end += 4
03722         (length,) = _struct_I.unpack(str[start:end])
03723         val1.poses = []
03724         for i in range(0, length):
03725           val2 = geometry_msgs.msg.Pose()
03726           _v234 = val2.position
03727           _x = _v234
03728           start = end
03729           end += 24
03730           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03731           _v235 = val2.orientation
03732           _x = _v235
03733           start = end
03734           end += 32
03735           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
03736           val1.poses.append(val2)
03737         self.goal.planning_scene_diff.collision_objects.append(val1)
03738       start = end
03739       end += 4
03740       (length,) = _struct_I.unpack(str[start:end])
03741       self.goal.planning_scene_diff.attached_collision_objects = []
03742       for i in range(0, length):
03743         val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
03744         start = end
03745         end += 4
03746         (length,) = _struct_I.unpack(str[start:end])
03747         start = end
03748         end += length
03749         if python3:
03750           val1.link_name = str[start:end].decode('utf-8')
03751         else:
03752           val1.link_name = str[start:end]
03753         _v236 = val1.object
03754         _v237 = _v236.header
03755         start = end
03756         end += 4
03757         (_v237.seq,) = _struct_I.unpack(str[start:end])
03758         _v238 = _v237.stamp
03759         _x = _v238
03760         start = end
03761         end += 8
03762         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
03763         start = end
03764         end += 4
03765         (length,) = _struct_I.unpack(str[start:end])
03766         start = end
03767         end += length
03768         if python3:
03769           _v237.frame_id = str[start:end].decode('utf-8')
03770         else:
03771           _v237.frame_id = str[start:end]
03772         start = end
03773         end += 4
03774         (length,) = _struct_I.unpack(str[start:end])
03775         start = end
03776         end += length
03777         if python3:
03778           _v236.id = str[start:end].decode('utf-8')
03779         else:
03780           _v236.id = str[start:end]
03781         start = end
03782         end += 4
03783         (_v236.padding,) = _struct_f.unpack(str[start:end])
03784         _v239 = _v236.operation
03785         start = end
03786         end += 1
03787         (_v239.operation,) = _struct_b.unpack(str[start:end])
03788         start = end
03789         end += 4
03790         (length,) = _struct_I.unpack(str[start:end])
03791         _v236.shapes = []
03792         for i in range(0, length):
03793           val3 = arm_navigation_msgs.msg.Shape()
03794           start = end
03795           end += 1
03796           (val3.type,) = _struct_b.unpack(str[start:end])
03797           start = end
03798           end += 4
03799           (length,) = _struct_I.unpack(str[start:end])
03800           pattern = '<%sd'%length
03801           start = end
03802           end += struct.calcsize(pattern)
03803           val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03804           start = end
03805           end += 4
03806           (length,) = _struct_I.unpack(str[start:end])
03807           pattern = '<%si'%length
03808           start = end
03809           end += struct.calcsize(pattern)
03810           val3.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
03811           start = end
03812           end += 4
03813           (length,) = _struct_I.unpack(str[start:end])
03814           val3.vertices = []
03815           for i in range(0, length):
03816             val4 = geometry_msgs.msg.Point()
03817             _x = val4
03818             start = end
03819             end += 24
03820             (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03821             val3.vertices.append(val4)
03822           _v236.shapes.append(val3)
03823         start = end
03824         end += 4
03825         (length,) = _struct_I.unpack(str[start:end])
03826         _v236.poses = []
03827         for i in range(0, length):
03828           val3 = geometry_msgs.msg.Pose()
03829           _v240 = val3.position
03830           _x = _v240
03831           start = end
03832           end += 24
03833           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03834           _v241 = val3.orientation
03835           _x = _v241
03836           start = end
03837           end += 32
03838           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
03839           _v236.poses.append(val3)
03840         start = end
03841         end += 4
03842         (length,) = _struct_I.unpack(str[start:end])
03843         val1.touch_links = []
03844         for i in range(0, length):
03845           start = end
03846           end += 4
03847           (length,) = _struct_I.unpack(str[start:end])
03848           start = end
03849           end += length
03850           if python3:
03851             val2 = str[start:end].decode('utf-8')
03852           else:
03853             val2 = str[start:end]
03854           val1.touch_links.append(val2)
03855         self.goal.planning_scene_diff.attached_collision_objects.append(val1)
03856       _x = self
03857       start = end
03858       end += 12
03859       (_x.goal.planning_scene_diff.collision_map.header.seq, _x.goal.planning_scene_diff.collision_map.header.stamp.secs, _x.goal.planning_scene_diff.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
03860       start = end
03861       end += 4
03862       (length,) = _struct_I.unpack(str[start:end])
03863       start = end
03864       end += length
03865       if python3:
03866         self.goal.planning_scene_diff.collision_map.header.frame_id = str[start:end].decode('utf-8')
03867       else:
03868         self.goal.planning_scene_diff.collision_map.header.frame_id = str[start:end]
03869       start = end
03870       end += 4
03871       (length,) = _struct_I.unpack(str[start:end])
03872       self.goal.planning_scene_diff.collision_map.boxes = []
03873       for i in range(0, length):
03874         val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
03875         _v242 = val1.center
03876         _x = _v242
03877         start = end
03878         end += 12
03879         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
03880         _v243 = val1.extents
03881         _x = _v243
03882         start = end
03883         end += 12
03884         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
03885         _v244 = val1.axis
03886         _x = _v244
03887         start = end
03888         end += 12
03889         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
03890         start = end
03891         end += 4
03892         (val1.angle,) = _struct_f.unpack(str[start:end])
03893         self.goal.planning_scene_diff.collision_map.boxes.append(val1)
03894       start = end
03895       end += 1
03896       (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
03897       start = end
03898       end += 4
03899       (length,) = _struct_I.unpack(str[start:end])
03900       pattern = '<%sd'%length
03901       start = end
03902       end += struct.calcsize(pattern)
03903       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03904       start = end
03905       end += 4
03906       (length,) = _struct_I.unpack(str[start:end])
03907       pattern = '<%si'%length
03908       start = end
03909       end += struct.calcsize(pattern)
03910       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
03911       start = end
03912       end += 4
03913       (length,) = _struct_I.unpack(str[start:end])
03914       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
03915       for i in range(0, length):
03916         val1 = geometry_msgs.msg.Point()
03917         _x = val1
03918         start = end
03919         end += 24
03920         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
03921         self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
03922       _x = self
03923       start = end
03924       end += 12
03925       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
03926       start = end
03927       end += 4
03928       (length,) = _struct_I.unpack(str[start:end])
03929       start = end
03930       end += length
03931       if python3:
03932         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
03933       else:
03934         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
03935       _x = self
03936       start = end
03937       end += 68
03938       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
03939       start = end
03940       end += 4
03941       (length,) = _struct_I.unpack(str[start:end])
03942       start = end
03943       end += length
03944       if python3:
03945         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
03946       else:
03947         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
03948       start = end
03949       end += 4
03950       (length,) = _struct_I.unpack(str[start:end])
03951       self.goal.motion_plan_request.start_state.joint_state.name = []
03952       for i in range(0, length):
03953         start = end
03954         end += 4
03955         (length,) = _struct_I.unpack(str[start:end])
03956         start = end
03957         end += length
03958         if python3:
03959           val1 = str[start:end].decode('utf-8')
03960         else:
03961           val1 = str[start:end]
03962         self.goal.motion_plan_request.start_state.joint_state.name.append(val1)
03963       start = end
03964       end += 4
03965       (length,) = _struct_I.unpack(str[start:end])
03966       pattern = '<%sd'%length
03967       start = end
03968       end += struct.calcsize(pattern)
03969       self.goal.motion_plan_request.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03970       start = end
03971       end += 4
03972       (length,) = _struct_I.unpack(str[start:end])
03973       pattern = '<%sd'%length
03974       start = end
03975       end += struct.calcsize(pattern)
03976       self.goal.motion_plan_request.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03977       start = end
03978       end += 4
03979       (length,) = _struct_I.unpack(str[start:end])
03980       pattern = '<%sd'%length
03981       start = end
03982       end += struct.calcsize(pattern)
03983       self.goal.motion_plan_request.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
03984       _x = self
03985       start = end
03986       end += 8
03987       (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
03988       start = end
03989       end += 4
03990       (length,) = _struct_I.unpack(str[start:end])
03991       self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
03992       for i in range(0, length):
03993         start = end
03994         end += 4
03995         (length,) = _struct_I.unpack(str[start:end])
03996         start = end
03997         end += length
03998         if python3:
03999           val1 = str[start:end].decode('utf-8')
04000         else:
04001           val1 = str[start:end]
04002         self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
04003       start = end
04004       end += 4
04005       (length,) = _struct_I.unpack(str[start:end])
04006       self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
04007       for i in range(0, length):
04008         start = end
04009         end += 4
04010         (length,) = _struct_I.unpack(str[start:end])
04011         start = end
04012         end += length
04013         if python3:
04014           val1 = str[start:end].decode('utf-8')
04015         else:
04016           val1 = str[start:end]
04017         self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
04018       start = end
04019       end += 4
04020       (length,) = _struct_I.unpack(str[start:end])
04021       self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
04022       for i in range(0, length):
04023         start = end
04024         end += 4
04025         (length,) = _struct_I.unpack(str[start:end])
04026         start = end
04027         end += length
04028         if python3:
04029           val1 = str[start:end].decode('utf-8')
04030         else:
04031           val1 = str[start:end]
04032         self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
04033       start = end
04034       end += 4
04035       (length,) = _struct_I.unpack(str[start:end])
04036       self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
04037       for i in range(0, length):
04038         val1 = geometry_msgs.msg.Pose()
04039         _v245 = val1.position
04040         _x = _v245
04041         start = end
04042         end += 24
04043         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04044         _v246 = val1.orientation
04045         _x = _v246
04046         start = end
04047         end += 32
04048         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04049         self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
04050       start = end
04051       end += 4
04052       (length,) = _struct_I.unpack(str[start:end])
04053       self.goal.motion_plan_request.goal_constraints.joint_constraints = []
04054       for i in range(0, length):
04055         val1 = arm_navigation_msgs.msg.JointConstraint()
04056         start = end
04057         end += 4
04058         (length,) = _struct_I.unpack(str[start:end])
04059         start = end
04060         end += length
04061         if python3:
04062           val1.joint_name = str[start:end].decode('utf-8')
04063         else:
04064           val1.joint_name = str[start:end]
04065         _x = val1
04066         start = end
04067         end += 32
04068         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
04069         self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
04070       start = end
04071       end += 4
04072       (length,) = _struct_I.unpack(str[start:end])
04073       self.goal.motion_plan_request.goal_constraints.position_constraints = []
04074       for i in range(0, length):
04075         val1 = arm_navigation_msgs.msg.PositionConstraint()
04076         _v247 = val1.header
04077         start = end
04078         end += 4
04079         (_v247.seq,) = _struct_I.unpack(str[start:end])
04080         _v248 = _v247.stamp
04081         _x = _v248
04082         start = end
04083         end += 8
04084         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04085         start = end
04086         end += 4
04087         (length,) = _struct_I.unpack(str[start:end])
04088         start = end
04089         end += length
04090         if python3:
04091           _v247.frame_id = str[start:end].decode('utf-8')
04092         else:
04093           _v247.frame_id = str[start:end]
04094         start = end
04095         end += 4
04096         (length,) = _struct_I.unpack(str[start:end])
04097         start = end
04098         end += length
04099         if python3:
04100           val1.link_name = str[start:end].decode('utf-8')
04101         else:
04102           val1.link_name = str[start:end]
04103         _v249 = val1.target_point_offset
04104         _x = _v249
04105         start = end
04106         end += 24
04107         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04108         _v250 = val1.position
04109         _x = _v250
04110         start = end
04111         end += 24
04112         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04113         _v251 = val1.constraint_region_shape
04114         start = end
04115         end += 1
04116         (_v251.type,) = _struct_b.unpack(str[start:end])
04117         start = end
04118         end += 4
04119         (length,) = _struct_I.unpack(str[start:end])
04120         pattern = '<%sd'%length
04121         start = end
04122         end += struct.calcsize(pattern)
04123         _v251.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
04124         start = end
04125         end += 4
04126         (length,) = _struct_I.unpack(str[start:end])
04127         pattern = '<%si'%length
04128         start = end
04129         end += struct.calcsize(pattern)
04130         _v251.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
04131         start = end
04132         end += 4
04133         (length,) = _struct_I.unpack(str[start:end])
04134         _v251.vertices = []
04135         for i in range(0, length):
04136           val3 = geometry_msgs.msg.Point()
04137           _x = val3
04138           start = end
04139           end += 24
04140           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04141           _v251.vertices.append(val3)
04142         _v252 = val1.constraint_region_orientation
04143         _x = _v252
04144         start = end
04145         end += 32
04146         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04147         start = end
04148         end += 8
04149         (val1.weight,) = _struct_d.unpack(str[start:end])
04150         self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
04151       start = end
04152       end += 4
04153       (length,) = _struct_I.unpack(str[start:end])
04154       self.goal.motion_plan_request.goal_constraints.orientation_constraints = []
04155       for i in range(0, length):
04156         val1 = arm_navigation_msgs.msg.OrientationConstraint()
04157         _v253 = val1.header
04158         start = end
04159         end += 4
04160         (_v253.seq,) = _struct_I.unpack(str[start:end])
04161         _v254 = _v253.stamp
04162         _x = _v254
04163         start = end
04164         end += 8
04165         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04166         start = end
04167         end += 4
04168         (length,) = _struct_I.unpack(str[start:end])
04169         start = end
04170         end += length
04171         if python3:
04172           _v253.frame_id = str[start:end].decode('utf-8')
04173         else:
04174           _v253.frame_id = str[start:end]
04175         start = end
04176         end += 4
04177         (length,) = _struct_I.unpack(str[start:end])
04178         start = end
04179         end += length
04180         if python3:
04181           val1.link_name = str[start:end].decode('utf-8')
04182         else:
04183           val1.link_name = str[start:end]
04184         start = end
04185         end += 4
04186         (val1.type,) = _struct_i.unpack(str[start:end])
04187         _v255 = val1.orientation
04188         _x = _v255
04189         start = end
04190         end += 32
04191         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04192         _x = val1
04193         start = end
04194         end += 32
04195         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
04196         self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
04197       start = end
04198       end += 4
04199       (length,) = _struct_I.unpack(str[start:end])
04200       self.goal.motion_plan_request.goal_constraints.visibility_constraints = []
04201       for i in range(0, length):
04202         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
04203         _v256 = val1.header
04204         start = end
04205         end += 4
04206         (_v256.seq,) = _struct_I.unpack(str[start:end])
04207         _v257 = _v256.stamp
04208         _x = _v257
04209         start = end
04210         end += 8
04211         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04212         start = end
04213         end += 4
04214         (length,) = _struct_I.unpack(str[start:end])
04215         start = end
04216         end += length
04217         if python3:
04218           _v256.frame_id = str[start:end].decode('utf-8')
04219         else:
04220           _v256.frame_id = str[start:end]
04221         _v258 = val1.target
04222         _v259 = _v258.header
04223         start = end
04224         end += 4
04225         (_v259.seq,) = _struct_I.unpack(str[start:end])
04226         _v260 = _v259.stamp
04227         _x = _v260
04228         start = end
04229         end += 8
04230         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04231         start = end
04232         end += 4
04233         (length,) = _struct_I.unpack(str[start:end])
04234         start = end
04235         end += length
04236         if python3:
04237           _v259.frame_id = str[start:end].decode('utf-8')
04238         else:
04239           _v259.frame_id = str[start:end]
04240         _v261 = _v258.point
04241         _x = _v261
04242         start = end
04243         end += 24
04244         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04245         _v262 = val1.sensor_pose
04246         _v263 = _v262.header
04247         start = end
04248         end += 4
04249         (_v263.seq,) = _struct_I.unpack(str[start:end])
04250         _v264 = _v263.stamp
04251         _x = _v264
04252         start = end
04253         end += 8
04254         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04255         start = end
04256         end += 4
04257         (length,) = _struct_I.unpack(str[start:end])
04258         start = end
04259         end += length
04260         if python3:
04261           _v263.frame_id = str[start:end].decode('utf-8')
04262         else:
04263           _v263.frame_id = str[start:end]
04264         _v265 = _v262.pose
04265         _v266 = _v265.position
04266         _x = _v266
04267         start = end
04268         end += 24
04269         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04270         _v267 = _v265.orientation
04271         _x = _v267
04272         start = end
04273         end += 32
04274         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04275         start = end
04276         end += 8
04277         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
04278         self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
04279       start = end
04280       end += 4
04281       (length,) = _struct_I.unpack(str[start:end])
04282       self.goal.motion_plan_request.path_constraints.joint_constraints = []
04283       for i in range(0, length):
04284         val1 = arm_navigation_msgs.msg.JointConstraint()
04285         start = end
04286         end += 4
04287         (length,) = _struct_I.unpack(str[start:end])
04288         start = end
04289         end += length
04290         if python3:
04291           val1.joint_name = str[start:end].decode('utf-8')
04292         else:
04293           val1.joint_name = str[start:end]
04294         _x = val1
04295         start = end
04296         end += 32
04297         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
04298         self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
04299       start = end
04300       end += 4
04301       (length,) = _struct_I.unpack(str[start:end])
04302       self.goal.motion_plan_request.path_constraints.position_constraints = []
04303       for i in range(0, length):
04304         val1 = arm_navigation_msgs.msg.PositionConstraint()
04305         _v268 = val1.header
04306         start = end
04307         end += 4
04308         (_v268.seq,) = _struct_I.unpack(str[start:end])
04309         _v269 = _v268.stamp
04310         _x = _v269
04311         start = end
04312         end += 8
04313         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04314         start = end
04315         end += 4
04316         (length,) = _struct_I.unpack(str[start:end])
04317         start = end
04318         end += length
04319         if python3:
04320           _v268.frame_id = str[start:end].decode('utf-8')
04321         else:
04322           _v268.frame_id = str[start:end]
04323         start = end
04324         end += 4
04325         (length,) = _struct_I.unpack(str[start:end])
04326         start = end
04327         end += length
04328         if python3:
04329           val1.link_name = str[start:end].decode('utf-8')
04330         else:
04331           val1.link_name = str[start:end]
04332         _v270 = val1.target_point_offset
04333         _x = _v270
04334         start = end
04335         end += 24
04336         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04337         _v271 = val1.position
04338         _x = _v271
04339         start = end
04340         end += 24
04341         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04342         _v272 = val1.constraint_region_shape
04343         start = end
04344         end += 1
04345         (_v272.type,) = _struct_b.unpack(str[start:end])
04346         start = end
04347         end += 4
04348         (length,) = _struct_I.unpack(str[start:end])
04349         pattern = '<%sd'%length
04350         start = end
04351         end += struct.calcsize(pattern)
04352         _v272.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
04353         start = end
04354         end += 4
04355         (length,) = _struct_I.unpack(str[start:end])
04356         pattern = '<%si'%length
04357         start = end
04358         end += struct.calcsize(pattern)
04359         _v272.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
04360         start = end
04361         end += 4
04362         (length,) = _struct_I.unpack(str[start:end])
04363         _v272.vertices = []
04364         for i in range(0, length):
04365           val3 = geometry_msgs.msg.Point()
04366           _x = val3
04367           start = end
04368           end += 24
04369           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04370           _v272.vertices.append(val3)
04371         _v273 = val1.constraint_region_orientation
04372         _x = _v273
04373         start = end
04374         end += 32
04375         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04376         start = end
04377         end += 8
04378         (val1.weight,) = _struct_d.unpack(str[start:end])
04379         self.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
04380       start = end
04381       end += 4
04382       (length,) = _struct_I.unpack(str[start:end])
04383       self.goal.motion_plan_request.path_constraints.orientation_constraints = []
04384       for i in range(0, length):
04385         val1 = arm_navigation_msgs.msg.OrientationConstraint()
04386         _v274 = val1.header
04387         start = end
04388         end += 4
04389         (_v274.seq,) = _struct_I.unpack(str[start:end])
04390         _v275 = _v274.stamp
04391         _x = _v275
04392         start = end
04393         end += 8
04394         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04395         start = end
04396         end += 4
04397         (length,) = _struct_I.unpack(str[start:end])
04398         start = end
04399         end += length
04400         if python3:
04401           _v274.frame_id = str[start:end].decode('utf-8')
04402         else:
04403           _v274.frame_id = str[start:end]
04404         start = end
04405         end += 4
04406         (length,) = _struct_I.unpack(str[start:end])
04407         start = end
04408         end += length
04409         if python3:
04410           val1.link_name = str[start:end].decode('utf-8')
04411         else:
04412           val1.link_name = str[start:end]
04413         start = end
04414         end += 4
04415         (val1.type,) = _struct_i.unpack(str[start:end])
04416         _v276 = val1.orientation
04417         _x = _v276
04418         start = end
04419         end += 32
04420         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04421         _x = val1
04422         start = end
04423         end += 32
04424         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
04425         self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
04426       start = end
04427       end += 4
04428       (length,) = _struct_I.unpack(str[start:end])
04429       self.goal.motion_plan_request.path_constraints.visibility_constraints = []
04430       for i in range(0, length):
04431         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
04432         _v277 = val1.header
04433         start = end
04434         end += 4
04435         (_v277.seq,) = _struct_I.unpack(str[start:end])
04436         _v278 = _v277.stamp
04437         _x = _v278
04438         start = end
04439         end += 8
04440         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04441         start = end
04442         end += 4
04443         (length,) = _struct_I.unpack(str[start:end])
04444         start = end
04445         end += length
04446         if python3:
04447           _v277.frame_id = str[start:end].decode('utf-8')
04448         else:
04449           _v277.frame_id = str[start:end]
04450         _v279 = val1.target
04451         _v280 = _v279.header
04452         start = end
04453         end += 4
04454         (_v280.seq,) = _struct_I.unpack(str[start:end])
04455         _v281 = _v280.stamp
04456         _x = _v281
04457         start = end
04458         end += 8
04459         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04460         start = end
04461         end += 4
04462         (length,) = _struct_I.unpack(str[start:end])
04463         start = end
04464         end += length
04465         if python3:
04466           _v280.frame_id = str[start:end].decode('utf-8')
04467         else:
04468           _v280.frame_id = str[start:end]
04469         _v282 = _v279.point
04470         _x = _v282
04471         start = end
04472         end += 24
04473         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04474         _v283 = val1.sensor_pose
04475         _v284 = _v283.header
04476         start = end
04477         end += 4
04478         (_v284.seq,) = _struct_I.unpack(str[start:end])
04479         _v285 = _v284.stamp
04480         _x = _v285
04481         start = end
04482         end += 8
04483         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
04484         start = end
04485         end += 4
04486         (length,) = _struct_I.unpack(str[start:end])
04487         start = end
04488         end += length
04489         if python3:
04490           _v284.frame_id = str[start:end].decode('utf-8')
04491         else:
04492           _v284.frame_id = str[start:end]
04493         _v286 = _v283.pose
04494         _v287 = _v286.position
04495         _x = _v287
04496         start = end
04497         end += 24
04498         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
04499         _v288 = _v286.orientation
04500         _x = _v288
04501         start = end
04502         end += 32
04503         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
04504         start = end
04505         end += 8
04506         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
04507         self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
04508       start = end
04509       end += 4
04510       (length,) = _struct_I.unpack(str[start:end])
04511       start = end
04512       end += length
04513       if python3:
04514         self.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
04515       else:
04516         self.goal.motion_plan_request.planner_id = str[start:end]
04517       start = end
04518       end += 4
04519       (length,) = _struct_I.unpack(str[start:end])
04520       start = end
04521       end += length
04522       if python3:
04523         self.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
04524       else:
04525         self.goal.motion_plan_request.group_name = str[start:end]
04526       _x = self
04527       start = end
04528       end += 28
04529       (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
04530       start = end
04531       end += 4
04532       (length,) = _struct_I.unpack(str[start:end])
04533       self.goal.operations.collision_operations = []
04534       for i in range(0, length):
04535         val1 = arm_navigation_msgs.msg.CollisionOperation()
04536         start = end
04537         end += 4
04538         (length,) = _struct_I.unpack(str[start:end])
04539         start = end
04540         end += length
04541         if python3:
04542           val1.object1 = str[start:end].decode('utf-8')
04543         else:
04544           val1.object1 = str[start:end]
04545         start = end
04546         end += 4
04547         (length,) = _struct_I.unpack(str[start:end])
04548         start = end
04549         end += length
04550         if python3:
04551           val1.object2 = str[start:end].decode('utf-8')
04552         else:
04553           val1.object2 = str[start:end]
04554         _x = val1
04555         start = end
04556         end += 12
04557         (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
04558         self.goal.operations.collision_operations.append(val1)
04559       _x = self
04560       start = end
04561       end += 4
04562       (_x.goal.accept_partial_plans, _x.goal.accept_invalid_goals, _x.goal.disable_ik, _x.goal.disable_collision_monitoring,) = _struct_4B.unpack(str[start:end])
04563       self.goal.accept_partial_plans = bool(self.goal.accept_partial_plans)
04564       self.goal.accept_invalid_goals = bool(self.goal.accept_invalid_goals)
04565       self.goal.disable_ik = bool(self.goal.disable_ik)
04566       self.goal.disable_collision_monitoring = bool(self.goal.disable_collision_monitoring)
04567       return self
04568     except struct.error as e:
04569       raise genpy.DeserializationError(e) #most likely buffer underfill
04570 
04571 _struct_I = genpy.struct_I
04572 _struct_7d3I = struct.Struct("<7d3I")
04573 _struct_b = struct.Struct("<b")
04574 _struct_d = struct.Struct("<d")
04575 _struct_f = struct.Struct("<f")
04576 _struct_di = struct.Struct("<di")
04577 _struct_7i = struct.Struct("<7i")
04578 _struct_3f = struct.Struct("<3f")
04579 _struct_i = struct.Struct("<i")
04580 _struct_3I = struct.Struct("<3I")
04581 _struct_4d = struct.Struct("<4d")
04582 _struct_4B = struct.Struct("<4B")
04583 _struct_2I = struct.Struct("<2I")
04584 _struct_3d = struct.Struct("<3d")


arm_navigation_msgs
Author(s): Gil Jones
autogenerated on Mon Dec 2 2013 12:31:50