_PickupActionResult.py

Go to the documentation of this file.

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

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

class PickupActionResult(genpy.Message):
  _md5sum = "f8f466525b158e795c4b9c335cd7df4b"
  _type = "object_manipulation_msgs/PickupActionResult"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PickupResult result

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

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

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


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

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


================================================================================
MSG: object_manipulation_msgs/PickupResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# The overall result of the pickup attempt
ManipulationResult manipulation_result

# The performed grasp, if attempt was successful
manipulation_msgs/Grasp grasp

# the complete list of attempted grasp, in the order in which they have been attempted
# the successful one should be the last one in this list
manipulation_msgs/Grasp[] attempted_grasps

# the outcomes of the attempted grasps, in the same order as attempted_grasps
GraspResult[] attempted_grasp_results


================================================================================
MSG: object_manipulation_msgs/ManipulationResult
# Result codes for manipulation tasks

# task completed as expected
# generally means you can proceed as planned
int32 SUCCESS = 1

# task not possible (e.g. out of reach or obstacles in the way)
# generally means that the world was not disturbed, so you can try another task
int32 UNFEASIBLE = -1

# task was thought possible, but failed due to unexpected events during execution
# it is likely that the world was disturbed, so you are encouraged to refresh
# your sensed world model before proceeding to another task
int32 FAILED = -2

# a lower level error prevented task completion (e.g. joint controller not responding)
# generally requires human attention
int32 ERROR = -3

# means that at some point during execution we ended up in a state that the collision-aware
# arm navigation module will not move out of. The world was likely not disturbed, but you 
# probably need a new collision map to move the arm out of the stuck position
int32 ARM_MOVEMENT_PREVENTED = -4

# specific to grasp actions
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
# it is likely that the collision environment will see collisions between the hand/object and the support surface
int32 LIFT_FAILED = -5

# specific to place actions
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
# it is likely that the collision environment will see collisions between the hand and the object
int32 RETREAT_FAILED = -6

# indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
int32 CANCELLED = -7

# the actual value of this error code
int32 value

================================================================================
MSG: manipulation_msgs/Grasp
# A name for this grasp
string id

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

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

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

# The estimated probability of success for this grasp, or some other
# measure of how "good" it is.
float64 grasp_quality

# The approach motion
GripperTranslation approach

# The retreat motion
GripperTranslation retreat

# the maximum contact force to use while grasping (<=0 to disable)
float32 max_contact_force

# an optional list of obstacles that we have semantic information about
# and that can be touched/pushed/moved in the course of grasping
string[] allowed_touch_objects

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


Header header

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

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

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

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

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

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: manipulation_msgs/GripperTranslation
# defines a translation for the gripper, used in pickup or place tasks
# for example for lifting an object off a table or approaching the table for placing

# the direction of the translation
geometry_msgs/Vector3Stamped direction

# the desired translation distance
float32 desired_distance

# the min distance that must be considered feasible before the
# grasp is even attempted
float32 min_distance

================================================================================
MSG: geometry_msgs/Vector3Stamped
# This represents a Vector3 with reference coordinate frame and timestamp
Header header
Vector3 vector

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

float64 x
float64 y
float64 z
================================================================================
MSG: object_manipulation_msgs/GraspResult
int32 SUCCESS = 1
int32 GRASP_OUT_OF_REACH = 2
int32 GRASP_IN_COLLISION = 3
int32 GRASP_UNFEASIBLE = 4
int32 PREGRASP_OUT_OF_REACH = 5
int32 PREGRASP_IN_COLLISION = 6
int32 PREGRASP_UNFEASIBLE = 7
int32 LIFT_OUT_OF_REACH = 8
int32 LIFT_IN_COLLISION = 9
int32 LIFT_UNFEASIBLE = 10
int32 MOVE_ARM_FAILED = 11
int32 GRASP_FAILED = 12
int32 LIFT_FAILED = 13
int32 RETREAT_FAILED = 14
int32 result_code

# whether the state of the world was disturbed by this attempt. generally, this flag
# shows if another task can be attempted, or a new sensed world model is recommeded
# before proceeding
bool continuation_possible

"""
  __slots__ = ['header','status','result']
  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','object_manipulation_msgs/PickupResult']

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

    The available fields are:
       header,status,result

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

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
      _x = self.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.status.status))
      _x = self.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.result.manipulation_result.value))
      _x = self.result.grasp.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.pre_grasp_posture.header.seq, _x.result.grasp.pre_grasp_posture.header.stamp.secs, _x.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.pre_grasp_posture.position))
      length = len(self.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.pre_grasp_posture.velocity))
      length = len(self.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.grasp_posture.header.seq, _x.result.grasp.grasp_posture.header.stamp.secs, _x.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.grasp_posture.position))
      length = len(self.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.grasp_posture.velocity))
      length = len(self.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.result.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.grasp_pose.header.seq, _x.result.grasp.grasp_pose.header.stamp.secs, _x.result.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.result.grasp.grasp_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_8d3I.pack(_x.result.grasp.grasp_pose.pose.position.x, _x.result.grasp.grasp_pose.pose.position.y, _x.result.grasp.grasp_pose.pose.position.z, _x.result.grasp.grasp_pose.pose.orientation.x, _x.result.grasp.grasp_pose.pose.orientation.y, _x.result.grasp.grasp_pose.pose.orientation.z, _x.result.grasp.grasp_pose.pose.orientation.w, _x.result.grasp.grasp_quality, _x.result.grasp.approach.direction.header.seq, _x.result.grasp.approach.direction.header.stamp.secs, _x.result.grasp.approach.direction.header.stamp.nsecs))
      _x = self.result.grasp.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f3I.pack(_x.result.grasp.approach.direction.vector.x, _x.result.grasp.approach.direction.vector.y, _x.result.grasp.approach.direction.vector.z, _x.result.grasp.approach.desired_distance, _x.result.grasp.approach.min_distance, _x.result.grasp.retreat.direction.header.seq, _x.result.grasp.retreat.direction.header.stamp.secs, _x.result.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.result.grasp.retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d3f.pack(_x.result.grasp.retreat.direction.vector.x, _x.result.grasp.retreat.direction.vector.y, _x.result.grasp.retreat.direction.vector.z, _x.result.grasp.retreat.desired_distance, _x.result.grasp.retreat.min_distance, _x.result.grasp.max_contact_force))
      length = len(self.result.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.attempted_grasps:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v1 = val1.pre_grasp_posture
        _v2 = _v1.header
        buff.write(_struct_I.pack(_v2.seq))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v2.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v1.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v1.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.position))
        length = len(_v1.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.velocity))
        length = len(_v1.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v1.effort))
        _v4 = val1.grasp_posture
        _v5 = _v4.header
        buff.write(_struct_I.pack(_v5.seq))
        _v6 = _v5.stamp
        _x = _v6
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v5.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v4.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v4.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v4.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.position))
        length = len(_v4.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.velocity))
        length = len(_v4.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.effort))
        _v7 = val1.grasp_pose
        _v8 = _v7.header
        buff.write(_struct_I.pack(_v8.seq))
        _v9 = _v8.stamp
        _x = _v9
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v8.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v10 = _v7.pose
        _v11 = _v10.position
        _x = _v11
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v12 = _v10.orientation
        _x = _v12
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v13 = val1.approach
        _v14 = _v13.direction
        _v15 = _v14.header
        buff.write(_struct_I.pack(_v15.seq))
        _v16 = _v15.stamp
        _x = _v16
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v15.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v17 = _v14.vector
        _x = _v17
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v13
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v18 = val1.retreat
        _v19 = _v18.direction
        _v20 = _v19.header
        buff.write(_struct_I.pack(_v20.seq))
        _v21 = _v20.stamp
        _x = _v21
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v20.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v22 = _v19.vector
        _x = _v22
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v18
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      length = len(self.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.status is None:
        self.status = actionlib_msgs.msg.GoalStatus()
      if self.result is None:
        self.result = object_manipulation_msgs.msg.PickupResult()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status.text = str[start:end].decode('utf-8')
      else:
        self.status.text = str[start:end]
      start = end
      end += 4
      (self.result.manipulation_result.value,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.result.grasp.pre_grasp_posture.header.seq, _x.result.grasp.pre_grasp_posture.header.stamp.secs, _x.result.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.result.grasp.grasp_posture.header.seq, _x.result.grasp.grasp_posture.header.stamp.secs, _x.result.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.result.grasp.grasp_pose.header.seq, _x.result.grasp.grasp_pose.header.stamp.secs, _x.result.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.result.grasp.grasp_pose.pose.position.x, _x.result.grasp.grasp_pose.pose.position.y, _x.result.grasp.grasp_pose.pose.position.z, _x.result.grasp.grasp_pose.pose.orientation.x, _x.result.grasp.grasp_pose.pose.orientation.y, _x.result.grasp.grasp_pose.pose.orientation.z, _x.result.grasp.grasp_pose.pose.orientation.w, _x.result.grasp.grasp_quality, _x.result.grasp.approach.direction.header.seq, _x.result.grasp.approach.direction.header.stamp.secs, _x.result.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.result.grasp.approach.direction.vector.x, _x.result.grasp.approach.direction.vector.y, _x.result.grasp.approach.direction.vector.z, _x.result.grasp.approach.desired_distance, _x.result.grasp.approach.min_distance, _x.result.grasp.retreat.direction.header.seq, _x.result.grasp.retreat.direction.header.stamp.secs, _x.result.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.result.grasp.retreat.direction.vector.x, _x.result.grasp.retreat.direction.vector.y, _x.result.grasp.retreat.direction.vector.z, _x.result.grasp.retreat.desired_distance, _x.result.grasp.retreat.min_distance, _x.result.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.allowed_touch_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.attempted_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v23 = val1.pre_grasp_posture
        _v24 = _v23.header
        start = end
        end += 4
        (_v24.seq,) = _struct_I.unpack(str[start:end])
        _v25 = _v24.stamp
        _x = _v25
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v24.frame_id = str[start:end].decode('utf-8')
        else:
          _v24.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v23.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v23.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v23.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v23.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v23.effort = struct.unpack(pattern, str[start:end])
        _v26 = val1.grasp_posture
        _v27 = _v26.header
        start = end
        end += 4
        (_v27.seq,) = _struct_I.unpack(str[start:end])
        _v28 = _v27.stamp
        _x = _v28
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v27.frame_id = str[start:end].decode('utf-8')
        else:
          _v27.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v26.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v26.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v26.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v26.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v26.effort = struct.unpack(pattern, str[start:end])
        _v29 = val1.grasp_pose
        _v30 = _v29.header
        start = end
        end += 4
        (_v30.seq,) = _struct_I.unpack(str[start:end])
        _v31 = _v30.stamp
        _x = _v31
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v30.frame_id = str[start:end].decode('utf-8')
        else:
          _v30.frame_id = str[start:end]
        _v32 = _v29.pose
        _v33 = _v32.position
        _x = _v33
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v34 = _v32.orientation
        _x = _v34
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v35 = val1.approach
        _v36 = _v35.direction
        _v37 = _v36.header
        start = end
        end += 4
        (_v37.seq,) = _struct_I.unpack(str[start:end])
        _v38 = _v37.stamp
        _x = _v38
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v37.frame_id = str[start:end].decode('utf-8')
        else:
          _v37.frame_id = str[start:end]
        _v39 = _v36.vector
        _x = _v39
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v35
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v40 = val1.retreat
        _v41 = _v40.direction
        _v42 = _v41.header
        start = end
        end += 4
        (_v42.seq,) = _struct_I.unpack(str[start:end])
        _v43 = _v42.stamp
        _x = _v43
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v42.frame_id = str[start:end].decode('utf-8')
        else:
          _v42.frame_id = str[start:end]
        _v44 = _v41.vector
        _x = _v44
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v40
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.attempted_grasp_results = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.result.attempted_grasp_results.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
      _x = self.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.status.status))
      _x = self.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.result.manipulation_result.value))
      _x = self.result.grasp.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.pre_grasp_posture.header.seq, _x.result.grasp.pre_grasp_posture.header.stamp.secs, _x.result.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.result.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.result.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.pre_grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.pre_grasp_posture.position.tostring())
      length = len(self.result.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.result.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.grasp_posture.header.seq, _x.result.grasp.grasp_posture.header.stamp.secs, _x.result.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.result.grasp.grasp_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.result.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.grasp_posture.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.grasp_posture.position.tostring())
      length = len(self.result.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.grasp_posture.velocity.tostring())
      length = len(self.result.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.result.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.result.grasp.grasp_pose.header.seq, _x.result.grasp.grasp_pose.header.stamp.secs, _x.result.grasp.grasp_pose.header.stamp.nsecs))
      _x = self.result.grasp.grasp_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_8d3I.pack(_x.result.grasp.grasp_pose.pose.position.x, _x.result.grasp.grasp_pose.pose.position.y, _x.result.grasp.grasp_pose.pose.position.z, _x.result.grasp.grasp_pose.pose.orientation.x, _x.result.grasp.grasp_pose.pose.orientation.y, _x.result.grasp.grasp_pose.pose.orientation.z, _x.result.grasp.grasp_pose.pose.orientation.w, _x.result.grasp.grasp_quality, _x.result.grasp.approach.direction.header.seq, _x.result.grasp.approach.direction.header.stamp.secs, _x.result.grasp.approach.direction.header.stamp.nsecs))
      _x = self.result.grasp.approach.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d2f3I.pack(_x.result.grasp.approach.direction.vector.x, _x.result.grasp.approach.direction.vector.y, _x.result.grasp.approach.direction.vector.z, _x.result.grasp.approach.desired_distance, _x.result.grasp.approach.min_distance, _x.result.grasp.retreat.direction.header.seq, _x.result.grasp.retreat.direction.header.stamp.secs, _x.result.grasp.retreat.direction.header.stamp.nsecs))
      _x = self.result.grasp.retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3d3f.pack(_x.result.grasp.retreat.direction.vector.x, _x.result.grasp.retreat.direction.vector.y, _x.result.grasp.retreat.direction.vector.z, _x.result.grasp.retreat.desired_distance, _x.result.grasp.retreat.min_distance, _x.result.grasp.max_contact_force))
      length = len(self.result.grasp.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.grasp.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.result.attempted_grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.attempted_grasps:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v45 = val1.pre_grasp_posture
        _v46 = _v45.header
        buff.write(_struct_I.pack(_v46.seq))
        _v47 = _v46.stamp
        _x = _v47
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v46.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v45.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v45.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v45.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v45.position.tostring())
        length = len(_v45.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v45.velocity.tostring())
        length = len(_v45.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v45.effort.tostring())
        _v48 = val1.grasp_posture
        _v49 = _v48.header
        buff.write(_struct_I.pack(_v49.seq))
        _v50 = _v49.stamp
        _x = _v50
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v49.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v48.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v48.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v48.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v48.position.tostring())
        length = len(_v48.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v48.velocity.tostring())
        length = len(_v48.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v48.effort.tostring())
        _v51 = val1.grasp_pose
        _v52 = _v51.header
        buff.write(_struct_I.pack(_v52.seq))
        _v53 = _v52.stamp
        _x = _v53
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v52.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v54 = _v51.pose
        _v55 = _v54.position
        _x = _v55
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v56 = _v54.orientation
        _x = _v56
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.grasp_quality))
        _v57 = val1.approach
        _v58 = _v57.direction
        _v59 = _v58.header
        buff.write(_struct_I.pack(_v59.seq))
        _v60 = _v59.stamp
        _x = _v60
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v59.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v61 = _v58.vector
        _x = _v61
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v57
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        _v62 = val1.retreat
        _v63 = _v62.direction
        _v64 = _v63.header
        buff.write(_struct_I.pack(_v64.seq))
        _v65 = _v64.stamp
        _x = _v65
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v64.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v66 = _v63.vector
        _x = _v66
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = _v62
        buff.write(_struct_2f.pack(_x.desired_distance, _x.min_distance))
        buff.write(_struct_f.pack(val1.max_contact_force))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      length = len(self.result.attempted_grasp_results)
      buff.write(_struct_I.pack(length))
      for val1 in self.result.attempted_grasp_results:
        _x = val1
        buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.status is None:
        self.status = actionlib_msgs.msg.GoalStatus()
      if self.result is None:
        self.result = object_manipulation_msgs.msg.PickupResult()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status.text = str[start:end].decode('utf-8')
      else:
        self.status.text = str[start:end]
      start = end
      end += 4
      (self.result.manipulation_result.value,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.result.grasp.pre_grasp_posture.header.seq, _x.result.grasp.pre_grasp_posture.header.stamp.secs, _x.result.grasp.pre_grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.pre_grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.result.grasp.grasp_posture.header.seq, _x.result.grasp.grasp_posture.header.stamp.secs, _x.result.grasp.grasp_posture.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.grasp_posture.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.result.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.result.grasp.grasp_pose.header.seq, _x.result.grasp.grasp_pose.header.stamp.secs, _x.result.grasp.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 76
      (_x.result.grasp.grasp_pose.pose.position.x, _x.result.grasp.grasp_pose.pose.position.y, _x.result.grasp.grasp_pose.pose.position.z, _x.result.grasp.grasp_pose.pose.orientation.x, _x.result.grasp.grasp_pose.pose.orientation.y, _x.result.grasp.grasp_pose.pose.orientation.z, _x.result.grasp.grasp_pose.pose.orientation.w, _x.result.grasp.grasp_quality, _x.result.grasp.approach.direction.header.seq, _x.result.grasp.approach.direction.header.stamp.secs, _x.result.grasp.approach.direction.header.stamp.nsecs,) = _struct_8d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.result.grasp.approach.direction.vector.x, _x.result.grasp.approach.direction.vector.y, _x.result.grasp.approach.direction.vector.z, _x.result.grasp.approach.desired_distance, _x.result.grasp.approach.min_distance, _x.result.grasp.retreat.direction.header.seq, _x.result.grasp.retreat.direction.header.stamp.secs, _x.result.grasp.retreat.direction.header.stamp.nsecs,) = _struct_3d2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.result.grasp.retreat.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.result.grasp.retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 36
      (_x.result.grasp.retreat.direction.vector.x, _x.result.grasp.retreat.direction.vector.y, _x.result.grasp.retreat.direction.vector.z, _x.result.grasp.retreat.desired_distance, _x.result.grasp.retreat.min_distance, _x.result.grasp.max_contact_force,) = _struct_3d3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.grasp.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.result.grasp.allowed_touch_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.attempted_grasps = []
      for i in range(0, length):
        val1 = manipulation_msgs.msg.Grasp()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        _v67 = val1.pre_grasp_posture
        _v68 = _v67.header
        start = end
        end += 4
        (_v68.seq,) = _struct_I.unpack(str[start:end])
        _v69 = _v68.stamp
        _x = _v69
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v68.frame_id = str[start:end].decode('utf-8')
        else:
          _v68.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v67.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v67.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v67.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v67.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v67.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v70 = val1.grasp_posture
        _v71 = _v70.header
        start = end
        end += 4
        (_v71.seq,) = _struct_I.unpack(str[start:end])
        _v72 = _v71.stamp
        _x = _v72
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v71.frame_id = str[start:end].decode('utf-8')
        else:
          _v71.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v70.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v70.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v70.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v70.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v70.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v73 = val1.grasp_pose
        _v74 = _v73.header
        start = end
        end += 4
        (_v74.seq,) = _struct_I.unpack(str[start:end])
        _v75 = _v74.stamp
        _x = _v75
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v74.frame_id = str[start:end].decode('utf-8')
        else:
          _v74.frame_id = str[start:end]
        _v76 = _v73.pose
        _v77 = _v76.position
        _x = _v77
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v78 = _v76.orientation
        _x = _v78
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.grasp_quality,) = _struct_d.unpack(str[start:end])
        _v79 = val1.approach
        _v80 = _v79.direction
        _v81 = _v80.header
        start = end
        end += 4
        (_v81.seq,) = _struct_I.unpack(str[start:end])
        _v82 = _v81.stamp
        _x = _v82
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v81.frame_id = str[start:end].decode('utf-8')
        else:
          _v81.frame_id = str[start:end]
        _v83 = _v80.vector
        _x = _v83
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v79
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        _v84 = val1.retreat
        _v85 = _v84.direction
        _v86 = _v85.header
        start = end
        end += 4
        (_v86.seq,) = _struct_I.unpack(str[start:end])
        _v87 = _v86.stamp
        _x = _v87
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v86.frame_id = str[start:end].decode('utf-8')
        else:
          _v86.frame_id = str[start:end]
        _v88 = _v85.vector
        _x = _v88
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _x = _v84
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _struct_2f.unpack(str[start:end])
        start = end
        end += 4
        (val1.max_contact_force,) = _struct_f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.result.attempted_grasps.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.result.attempted_grasp_results = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspResult()
        _x = val1
        start = end
        end += 5
        (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
        val1.continuation_possible = bool(val1.continuation_possible)
        self.result.attempted_grasp_results.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_i = struct.Struct("<i")
_struct_2f = struct.Struct("<2f")
_struct_3d3f = struct.Struct("<3d3f")
_struct_8d3I = struct.Struct("<8d3I")
_struct_3I = struct.Struct("<3I")
_struct_3d2f3I = struct.Struct("<3d2f3I")
_struct_4d = struct.Struct("<4d")
_struct_iB = struct.Struct("<iB")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")