_GraspPlanningActionFeedback.py

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

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

class GraspPlanningActionFeedback(genpy.Message):
  _md5sum = "8f0cac201a22e6d38c53ae3d096f2dd7"
  _type = "object_manipulation_msgs/GraspPlanningActionFeedback"
  _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
GraspPlanningFeedback feedback

================================================================================
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/GraspPlanningFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# grasps planned so far
Grasp[] grasps



================================================================================
MSG: object_manipulation_msgs/Grasp

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

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

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

# The estimated probability of success for this grasp
float64 success_probability

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

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

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

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

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


Header header

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

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

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

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

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

# the point cloud itself
sensor_msgs/PointCloud cluster

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

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

# the database id of the model
int32 model_id

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

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

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

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

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

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

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

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

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

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

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

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

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

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

# Indices for the region of interest
int32[] mask

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

# The disparity image, if applicable
sensor_msgs/Image disparity_image

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

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

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

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

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

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

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

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

bool is_dense        # True if there are no invalid points

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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


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

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

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

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

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

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

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

float64 x
float64 y
float64 z
"""
  __slots__ = ['header','status','feedback']
  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','object_manipulation_msgs/GraspPlanningFeedback']

  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,feedback

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(GraspPlanningActionFeedback, 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.feedback is None:
        self.feedback = object_manipulation_msgs.msg.GraspPlanningFeedback()
    else:
      self.header = std_msgs.msg.Header()
      self.status = actionlib_msgs.msg.GoalStatus()
      self.feedback = object_manipulation_msgs.msg.GraspPlanningFeedback()

  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))
      length = len(self.feedback.grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.feedback.grasps:
        _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.position
        _x = _v8
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v9 = _v7.orientation
        _x = _v9
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v10 = val3.pose
            _v11 = _v10.header
            buff.write(_struct_I.pack(_v11.seq))
            _v12 = _v11.stamp
            _x = _v12
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v11.frame_id
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _v13 = _v10.pose
            _v14 = _v13.position
            _x = _v14
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v15 = _v13.orientation
            _x = _v15
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v16 = val2.cluster
          _v17 = _v16.header
          buff.write(_struct_I.pack(_v17.seq))
          _v18 = _v17.stamp
          _x = _v18
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v17.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v16.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v16.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v16.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v16.channels:
            _x = val4.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(struct.pack(pattern, *val4.values))
          _v19 = val2.region
          _v20 = _v19.cloud
          _v21 = _v20.header
          buff.write(_struct_I.pack(_v21.seq))
          _v22 = _v21.stamp
          _x = _v22
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v21.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 = _v20
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v20.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v20.fields:
            _x = val5.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v20
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v20.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v20.is_dense))
          length = len(_v19.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *_v19.mask))
          _v23 = _v19.image
          _v24 = _v23.header
          buff.write(_struct_I.pack(_v24.seq))
          _v25 = _v24.stamp
          _x = _v25
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v24.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 = _v23
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v23.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v23
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v23.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v26 = _v19.disparity_image
          _v27 = _v26.header
          buff.write(_struct_I.pack(_v27.seq))
          _v28 = _v27.stamp
          _x = _v28
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v27.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v26
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v26.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v26
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v26.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v29 = _v19.cam_info
          _v30 = _v29.header
          buff.write(_struct_I.pack(_v30.seq))
          _v31 = _v30.stamp
          _x = _v31
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v30.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v29
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v29.distortion_model
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v29.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *_v29.D))
          buff.write(_struct_9d.pack(*_v29.K))
          buff.write(_struct_9d.pack(*_v29.R))
          buff.write(_struct_12d.pack(*_v29.P))
          _x = _v29
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v32 = _v29.roi
          _x = _v32
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v33 = _v19.roi_box_pose
          _v34 = _v33.header
          buff.write(_struct_I.pack(_v34.seq))
          _v35 = _v34.stamp
          _x = _v35
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v34.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))
          _v36 = _v33.pose
          _v37 = _v36.position
          _x = _v37
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v38 = _v36.orientation
          _x = _v38
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v39 = _v19.roi_box_dims
          _x = _v39
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.status is None:
        self.status = actionlib_msgs.msg.GoalStatus()
      if self.feedback is None:
        self.feedback = object_manipulation_msgs.msg.GraspPlanningFeedback()
      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
      (length,) = _struct_I.unpack(str[start:end])
      self.feedback.grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v40 = val1.pre_grasp_posture
        _v41 = _v40.header
        start = end
        end += 4
        (_v41.seq,) = _struct_I.unpack(str[start:end])
        _v42 = _v41.stamp
        _x = _v42
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v41.frame_id = str[start:end].decode('utf-8')
        else:
          _v41.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v40.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]
          _v40.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v40.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)
        _v40.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)
        _v40.effort = struct.unpack(pattern, str[start:end])
        _v43 = val1.grasp_posture
        _v44 = _v43.header
        start = end
        end += 4
        (_v44.seq,) = _struct_I.unpack(str[start:end])
        _v45 = _v44.stamp
        _x = _v45
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v44.frame_id = str[start:end].decode('utf-8')
        else:
          _v44.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v43.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]
          _v43.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v43.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)
        _v43.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)
        _v43.effort = struct.unpack(pattern, str[start:end])
        _v46 = val1.grasp_pose
        _v47 = _v46.position
        _x = _v47
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v48 = _v46.orientation
        _x = _v48
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v49 = val3.pose
            _v50 = _v49.header
            start = end
            end += 4
            (_v50.seq,) = _struct_I.unpack(str[start:end])
            _v51 = _v50.stamp
            _x = _v51
            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:
              _v50.frame_id = str[start:end].decode('utf-8')
            else:
              _v50.frame_id = str[start:end]
            _v52 = _v49.pose
            _v53 = _v52.position
            _x = _v53
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v54 = _v52.orientation
            _x = _v54
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v55 = val2.cluster
          _v56 = _v55.header
          start = end
          end += 4
          (_v56.seq,) = _struct_I.unpack(str[start:end])
          _v57 = _v56.stamp
          _x = _v57
          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:
            _v56.frame_id = str[start:end].decode('utf-8')
          else:
            _v56.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v55.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v55.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v55.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = struct.unpack(pattern, str[start:end])
            _v55.channels.append(val4)
          _v58 = val2.region
          _v59 = _v58.cloud
          _v60 = _v59.header
          start = end
          end += 4
          (_v60.seq,) = _struct_I.unpack(str[start:end])
          _v61 = _v60.stamp
          _x = _v61
          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:
            _v60.frame_id = str[start:end].decode('utf-8')
          else:
            _v60.frame_id = str[start:end]
          _x = _v59
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v59.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v59.fields.append(val5)
          _x = _v59
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v59.is_bigendian = bool(_v59.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v59.data = str[start:end].decode('utf-8')
          else:
            _v59.data = str[start:end]
          start = end
          end += 1
          (_v59.is_dense,) = _struct_B.unpack(str[start:end])
          _v59.is_dense = bool(_v59.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v58.mask = struct.unpack(pattern, str[start:end])
          _v62 = _v58.image
          _v63 = _v62.header
          start = end
          end += 4
          (_v63.seq,) = _struct_I.unpack(str[start:end])
          _v64 = _v63.stamp
          _x = _v64
          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:
            _v63.frame_id = str[start:end].decode('utf-8')
          else:
            _v63.frame_id = str[start:end]
          _x = _v62
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v62.encoding = str[start:end].decode('utf-8')
          else:
            _v62.encoding = str[start:end]
          _x = _v62
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v62.data = str[start:end].decode('utf-8')
          else:
            _v62.data = str[start:end]
          _v65 = _v58.disparity_image
          _v66 = _v65.header
          start = end
          end += 4
          (_v66.seq,) = _struct_I.unpack(str[start:end])
          _v67 = _v66.stamp
          _x = _v67
          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:
            _v66.frame_id = str[start:end].decode('utf-8')
          else:
            _v66.frame_id = str[start:end]
          _x = _v65
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v65.encoding = str[start:end].decode('utf-8')
          else:
            _v65.encoding = str[start:end]
          _x = _v65
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v65.data = str[start:end].decode('utf-8')
          else:
            _v65.data = str[start:end]
          _v68 = _v58.cam_info
          _v69 = _v68.header
          start = end
          end += 4
          (_v69.seq,) = _struct_I.unpack(str[start:end])
          _v70 = _v69.stamp
          _x = _v70
          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:
            _v69.frame_id = str[start:end].decode('utf-8')
          else:
            _v69.frame_id = str[start:end]
          _x = _v68
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v68.distortion_model = str[start:end].decode('utf-8')
          else:
            _v68.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v68.D = struct.unpack(pattern, str[start:end])
          start = end
          end += 72
          _v68.K = _struct_9d.unpack(str[start:end])
          start = end
          end += 72
          _v68.R = _struct_9d.unpack(str[start:end])
          start = end
          end += 96
          _v68.P = _struct_12d.unpack(str[start:end])
          _x = _v68
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v71 = _v68.roi
          _x = _v71
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v71.do_rectify = bool(_v71.do_rectify)
          _v72 = _v58.roi_box_pose
          _v73 = _v72.header
          start = end
          end += 4
          (_v73.seq,) = _struct_I.unpack(str[start:end])
          _v74 = _v73.stamp
          _x = _v74
          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:
            _v73.frame_id = str[start:end].decode('utf-8')
          else:
            _v73.frame_id = str[start:end]
          _v75 = _v72.pose
          _v76 = _v75.position
          _x = _v76
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v77 = _v75.orientation
          _x = _v77
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v78 = _v58.roi_box_dims
          _x = _v78
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.feedback.grasps.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))
      length = len(self.feedback.grasps)
      buff.write(_struct_I.pack(length))
      for val1 in self.feedback.grasps:
        _v79 = val1.pre_grasp_posture
        _v80 = _v79.header
        buff.write(_struct_I.pack(_v80.seq))
        _v81 = _v80.stamp
        _x = _v81
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v80.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(_v79.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v79.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(_v79.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v79.position.tostring())
        length = len(_v79.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v79.velocity.tostring())
        length = len(_v79.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v79.effort.tostring())
        _v82 = val1.grasp_posture
        _v83 = _v82.header
        buff.write(_struct_I.pack(_v83.seq))
        _v84 = _v83.stamp
        _x = _v84
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v83.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(_v82.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v82.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(_v82.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v82.position.tostring())
        length = len(_v82.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v82.velocity.tostring())
        length = len(_v82.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v82.effort.tostring())
        _v85 = val1.grasp_pose
        _v86 = _v85.position
        _x = _v86
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v87 = _v85.orientation
        _x = _v87
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_dB2f.pack(_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance))
        length = len(val1.moved_obstacles)
        buff.write(_struct_I.pack(length))
        for val2 in val1.moved_obstacles:
          _x = val2.reference_frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.potential_models)
          buff.write(_struct_I.pack(length))
          for val3 in val2.potential_models:
            buff.write(_struct_i.pack(val3.model_id))
            _v88 = val3.pose
            _v89 = _v88.header
            buff.write(_struct_I.pack(_v89.seq))
            _v90 = _v89.stamp
            _x = _v90
            buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
            _x = _v89.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))
            _v91 = _v88.pose
            _v92 = _v91.position
            _x = _v92
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
            _v93 = _v91.orientation
            _x = _v93
            buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
            buff.write(_struct_f.pack(val3.confidence))
            _x = val3.detector_name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v94 = val2.cluster
          _v95 = _v94.header
          buff.write(_struct_I.pack(_v95.seq))
          _v96 = _v95.stamp
          _x = _v96
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v95.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(_v94.points)
          buff.write(_struct_I.pack(length))
          for val4 in _v94.points:
            _x = val4
            buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
          length = len(_v94.channels)
          buff.write(_struct_I.pack(length))
          for val4 in _v94.channels:
            _x = val4.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            length = len(val4.values)
            buff.write(_struct_I.pack(length))
            pattern = '<%sf'%length
            buff.write(val4.values.tostring())
          _v97 = val2.region
          _v98 = _v97.cloud
          _v99 = _v98.header
          buff.write(_struct_I.pack(_v99.seq))
          _v100 = _v99.stamp
          _x = _v100
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v99.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 = _v98
          buff.write(_struct_2I.pack(_x.height, _x.width))
          length = len(_v98.fields)
          buff.write(_struct_I.pack(length))
          for val5 in _v98.fields:
            _x = val5.name
            length = len(_x)
            if python3 or type(_x) == unicode:
              _x = _x.encode('utf-8')
              length = len(_x)
            buff.write(struct.pack('<I%ss'%length, length, _x))
            _x = val5
            buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
          _x = _v98
          buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
          _x = _v98.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          buff.write(_struct_B.pack(_v98.is_dense))
          length = len(_v97.mask)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(_v97.mask.tostring())
          _v101 = _v97.image
          _v102 = _v101.header
          buff.write(_struct_I.pack(_v102.seq))
          _v103 = _v102.stamp
          _x = _v103
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v102.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 = _v101
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v101.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v101
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v101.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v104 = _v97.disparity_image
          _v105 = _v104.header
          buff.write(_struct_I.pack(_v105.seq))
          _v106 = _v105.stamp
          _x = _v106
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v105.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 = _v104
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v104.encoding
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = _v104
          buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
          _x = _v104.data
          length = len(_x)
          # - if encoded as a list instead, serialize as bytes instead of string
          if type(_x) in [list, tuple]:
            buff.write(struct.pack('<I%sB'%length, length, *_x))
          else:
            buff.write(struct.pack('<I%ss'%length, length, _x))
          _v107 = _v97.cam_info
          _v108 = _v107.header
          buff.write(_struct_I.pack(_v108.seq))
          _v109 = _v108.stamp
          _x = _v109
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v108.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 = _v107
          buff.write(_struct_2I.pack(_x.height, _x.width))
          _x = _v107.distortion_model
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(_v107.D)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(_v107.D.tostring())
          buff.write(_v107.K.tostring())
          buff.write(_v107.R.tostring())
          buff.write(_v107.P.tostring())
          _x = _v107
          buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
          _v110 = _v107.roi
          _x = _v110
          buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
          _v111 = _v97.roi_box_pose
          _v112 = _v111.header
          buff.write(_struct_I.pack(_v112.seq))
          _v113 = _v112.stamp
          _x = _v113
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v112.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))
          _v114 = _v111.pose
          _v115 = _v114.position
          _x = _v115
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v116 = _v114.orientation
          _x = _v116
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v117 = _v97.roi_box_dims
          _x = _v117
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _x = val2.collision_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.status is None:
        self.status = actionlib_msgs.msg.GoalStatus()
      if self.feedback is None:
        self.feedback = object_manipulation_msgs.msg.GraspPlanningFeedback()
      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
      (length,) = _struct_I.unpack(str[start:end])
      self.feedback.grasps = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.Grasp()
        _v118 = val1.pre_grasp_posture
        _v119 = _v118.header
        start = end
        end += 4
        (_v119.seq,) = _struct_I.unpack(str[start:end])
        _v120 = _v119.stamp
        _x = _v120
        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:
          _v119.frame_id = str[start:end].decode('utf-8')
        else:
          _v119.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v118.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]
          _v118.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v118.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)
        _v118.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)
        _v118.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v121 = val1.grasp_posture
        _v122 = _v121.header
        start = end
        end += 4
        (_v122.seq,) = _struct_I.unpack(str[start:end])
        _v123 = _v122.stamp
        _x = _v123
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v122.frame_id = str[start:end].decode('utf-8')
        else:
          _v122.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v121.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]
          _v121.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v121.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)
        _v121.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)
        _v121.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v124 = val1.grasp_pose
        _v125 = _v124.position
        _x = _v125
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v126 = _v124.orientation
        _x = _v126
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 17
        (_x.success_probability, _x.cluster_rep, _x.desired_approach_distance, _x.min_approach_distance,) = _struct_dB2f.unpack(str[start:end])
        val1.cluster_rep = bool(val1.cluster_rep)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.moved_obstacles = []
        for i in range(0, length):
          val2 = object_manipulation_msgs.msg.GraspableObject()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.reference_frame_id = str[start:end].decode('utf-8')
          else:
            val2.reference_frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.potential_models = []
          for i in range(0, length):
            val3 = household_objects_database_msgs.msg.DatabaseModelPose()
            start = end
            end += 4
            (val3.model_id,) = _struct_i.unpack(str[start:end])
            _v127 = val3.pose
            _v128 = _v127.header
            start = end
            end += 4
            (_v128.seq,) = _struct_I.unpack(str[start:end])
            _v129 = _v128.stamp
            _x = _v129
            start = end
            end += 8
            (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              _v128.frame_id = str[start:end].decode('utf-8')
            else:
              _v128.frame_id = str[start:end]
            _v130 = _v127.pose
            _v131 = _v130.position
            _x = _v131
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            _v132 = _v130.orientation
            _x = _v132
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
            start = end
            end += 4
            (val3.confidence,) = _struct_f.unpack(str[start:end])
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3.detector_name = str[start:end].decode('utf-8')
            else:
              val3.detector_name = str[start:end]
            val2.potential_models.append(val3)
          _v133 = val2.cluster
          _v134 = _v133.header
          start = end
          end += 4
          (_v134.seq,) = _struct_I.unpack(str[start:end])
          _v135 = _v134.stamp
          _x = _v135
          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:
            _v134.frame_id = str[start:end].decode('utf-8')
          else:
            _v134.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v133.points = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point32()
            _x = val4
            start = end
            end += 12
            (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
            _v133.points.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v133.channels = []
          for i in range(0, length):
            val4 = sensor_msgs.msg.ChannelFloat32()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4.name = str[start:end].decode('utf-8')
            else:
              val4.name = str[start:end]
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            pattern = '<%sf'%length
            start = end
            end += struct.calcsize(pattern)
            val4.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
            _v133.channels.append(val4)
          _v136 = val2.region
          _v137 = _v136.cloud
          _v138 = _v137.header
          start = end
          end += 4
          (_v138.seq,) = _struct_I.unpack(str[start:end])
          _v139 = _v138.stamp
          _x = _v139
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v138.frame_id = str[start:end].decode('utf-8')
          else:
            _v138.frame_id = str[start:end]
          _x = _v137
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          _v137.fields = []
          for i in range(0, length):
            val5 = sensor_msgs.msg.PointField()
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val5.name = str[start:end].decode('utf-8')
            else:
              val5.name = str[start:end]
            _x = val5
            start = end
            end += 9
            (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
            _v137.fields.append(val5)
          _x = _v137
          start = end
          end += 9
          (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
          _v137.is_bigendian = bool(_v137.is_bigendian)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v137.data = str[start:end].decode('utf-8')
          else:
            _v137.data = str[start:end]
          start = end
          end += 1
          (_v137.is_dense,) = _struct_B.unpack(str[start:end])
          _v137.is_dense = bool(_v137.is_dense)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          _v136.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          _v140 = _v136.image
          _v141 = _v140.header
          start = end
          end += 4
          (_v141.seq,) = _struct_I.unpack(str[start:end])
          _v142 = _v141.stamp
          _x = _v142
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v141.frame_id = str[start:end].decode('utf-8')
          else:
            _v141.frame_id = str[start:end]
          _x = _v140
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v140.encoding = str[start:end].decode('utf-8')
          else:
            _v140.encoding = str[start:end]
          _x = _v140
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v140.data = str[start:end].decode('utf-8')
          else:
            _v140.data = str[start:end]
          _v143 = _v136.disparity_image
          _v144 = _v143.header
          start = end
          end += 4
          (_v144.seq,) = _struct_I.unpack(str[start:end])
          _v145 = _v144.stamp
          _x = _v145
          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:
            _v144.frame_id = str[start:end].decode('utf-8')
          else:
            _v144.frame_id = str[start:end]
          _x = _v143
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v143.encoding = str[start:end].decode('utf-8')
          else:
            _v143.encoding = str[start:end]
          _x = _v143
          start = end
          end += 5
          (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v143.data = str[start:end].decode('utf-8')
          else:
            _v143.data = str[start:end]
          _v146 = _v136.cam_info
          _v147 = _v146.header
          start = end
          end += 4
          (_v147.seq,) = _struct_I.unpack(str[start:end])
          _v148 = _v147.stamp
          _x = _v148
          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:
            _v147.frame_id = str[start:end].decode('utf-8')
          else:
            _v147.frame_id = str[start:end]
          _x = _v146
          start = end
          end += 8
          (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v146.distortion_model = str[start:end].decode('utf-8')
          else:
            _v146.distortion_model = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          _v146.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 72
          _v146.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 72
          _v146.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
          start = end
          end += 96
          _v146.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
          _x = _v146
          start = end
          end += 8
          (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
          _v149 = _v146.roi
          _x = _v149
          start = end
          end += 17
          (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
          _v149.do_rectify = bool(_v149.do_rectify)
          _v150 = _v136.roi_box_pose
          _v151 = _v150.header
          start = end
          end += 4
          (_v151.seq,) = _struct_I.unpack(str[start:end])
          _v152 = _v151.stamp
          _x = _v152
          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:
            _v151.frame_id = str[start:end].decode('utf-8')
          else:
            _v151.frame_id = str[start:end]
          _v153 = _v150.pose
          _v154 = _v153.position
          _x = _v154
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v155 = _v153.orientation
          _x = _v155
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v156 = _v136.roi_box_dims
          _x = _v156
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.collision_name = str[start:end].decode('utf-8')
          else:
            val2.collision_name = str[start:end]
          val1.moved_obstacles.append(val2)
        self.feedback.grasps.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_B = struct.Struct("<B")
_struct_12d = struct.Struct("<12d")
_struct_f = struct.Struct("<f")
_struct_dB2f = struct.Struct("<dB2f")
_struct_BI = struct.Struct("<BI")
_struct_3f = struct.Struct("<3f")
_struct_i = struct.Struct("<i")
_struct_3I = struct.Struct("<3I")
_struct_9d = struct.Struct("<9d")
_struct_B2I = struct.Struct("<B2I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_4IB = struct.Struct("<4IB")
_struct_3d = struct.Struct("<3d")