_PlaceActionGoal.py

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

import arm_navigation_msgs.msg
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 PlaceActionGoal(genpy.Message):
  _md5sum = "f93c352752526d02221a81b54b167175"
  _type = "object_manipulation_msgs/PlaceActionGoal"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
PlaceGoal goal

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

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

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


================================================================================
MSG: object_manipulation_msgs/PlaceGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for placing an object

# which arm to be used for grasping
string arm_name

# a list of possible transformations for placing the object
geometry_msgs/PoseStamped[] place_locations

# the grasp that has been executed on this object
Grasp grasp

# Note that, in general place_location is intended to show where you want the object
# to go in the world, while grasp is meant to show how the object is grasped
# (where the hand is relative to the object).

# Ultimately, what matters is where the hand goes when you place the object; this
# is computed internally by simply multiplying the two transforms above.

# If you already know where you want the hand to go in the world when placing, feel
# free to put that in the place_location, and make the transform in grasp equal to
# identity.

# how far the retreat should ideally be away from the place location
float32 desired_retreat_distance

# the min distance between the retreat and the place location that must actually be feasible 
# for the place not to be rejected
float32 min_retreat_distance

# how the place location should be approached
# the frame_id that this lift is specified in MUST be either the robot_frame 
# or the gripper_frame specified in your hand description file
GripperTranslation approach

# the name that the target object has in the collision map
# can be left empty if no name is available
string collision_object_name

# the name that the support surface (e.g. table) has in the collision map
# can be left empty if no name is available
string collision_support_surface_name

# whether collisions between the gripper and the support surface should be acceptable
# during move from pre-place to place and during retreat. Collisions when moving to the
# pre-place location are still not allowed even if this is set to true.
bool allow_gripper_support_collision

# whether reactive placing based on tactile sensors should be used
bool use_reactive_place

# how much the object should be padded by when deciding if the grasp
# location is freasible or not
float64 place_padding

# set this to true if you only want to query the manipulation pipeline as to what 
# place locations it thinks are feasible, without actually executing them. If this is set to 
# true, the atempted_location_results field of the result will be populated, but no arm 
# movement will be attempted
bool only_perform_feasibility_test

# OPTIONAL (These will not have to be filled out most of the time)
# constraints to be imposed on every point in the motion of the arm
arm_navigation_msgs/Constraints path_constraints

# OPTIONAL (These will not have to be filled out most of the time)
# additional collision operations to be used for every arm movement performed
# during placing. Note that these will be added on top of (and thus overide) other 
# collision operations that the grasping pipeline deems necessary. Should be used
# with care and only if special behaviors are desired.
arm_navigation_msgs/OrderedCollisionOperations additional_collision_operations

# OPTIONAL (These will not have to be filled out most of the time)
# additional link paddings to be used for every arm movement performed
# during placing. Note that these will be added on top of (and thus overide) other 
# link paddings that the grasping pipeline deems necessary. Should be used
# with care and only if special behaviors are desired.
arm_navigation_msgs/LinkPadding[] additional_link_padding


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

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

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

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

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

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

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

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

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

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

# Indices for the region of interest
int32[] mask

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

# The disparity image, if applicable
sensor_msgs/Image disparity_image

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

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

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

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

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

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

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

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

bool is_dense        # True if there are no invalid points

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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


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

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

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

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

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

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

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

float64 x
float64 y
float64 z
================================================================================
MSG: object_manipulation_msgs/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: arm_navigation_msgs/Constraints
# This message contains a list of motion planning constraints.

arm_navigation_msgs/JointConstraint[] joint_constraints
arm_navigation_msgs/PositionConstraint[] position_constraints
arm_navigation_msgs/OrientationConstraint[] orientation_constraints
arm_navigation_msgs/VisibilityConstraint[] visibility_constraints

================================================================================
MSG: arm_navigation_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint
float64 weight
================================================================================
MSG: arm_navigation_msgs/PositionConstraint
# This message contains the definition of a position constraint.
Header header

# The robot link this constraint refers to
string link_name

# The offset (in the link frame) for the target point on the link we are planning for
geometry_msgs/Point target_point_offset

# The nominal/target position for the point we are planning for
geometry_msgs/Point position

# The shape of the bounded region that constrains the position of the end-effector
# This region is always centered at the position defined above
arm_navigation_msgs/Shape constraint_region_shape

# The orientation of the bounded region that constrains the position of the end-effector. 
# This allows the specification of non-axis aligned constraints
geometry_msgs/Quaternion constraint_region_orientation

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: arm_navigation_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

================================================================================
MSG: arm_navigation_msgs/OrientationConstraint
# This message contains the definition of an orientation constraint.
Header header

# The robot link this constraint refers to
string link_name

# The type of the constraint
int32 type
int32 LINK_FRAME=0
int32 HEADER_FRAME=1

# The desired orientation of the robot link specified as a quaternion
geometry_msgs/Quaternion orientation

# optional RPY error tolerances specified if 
float64 absolute_roll_tolerance
float64 absolute_pitch_tolerance
float64 absolute_yaw_tolerance

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: arm_navigation_msgs/VisibilityConstraint
# This message contains the definition of a visibility constraint.
Header header

# The point stamped target that needs to be kept within view of the sensor
geometry_msgs/PointStamped target

# The local pose of the frame in which visibility is to be maintained
# The frame id should represent the robot link to which the sensor is attached
# The visual axis of the sensor is assumed to be along the X axis of this frame
geometry_msgs/PoseStamped sensor_pose

# The deviation (in radians) that will be tolerated
# Constraint error will be measured as the solid angle between the 
# X axis of the frame defined above and the vector between the origin 
# of the frame defined above and the target location
float64 absolute_tolerance


================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

================================================================================
MSG: arm_navigation_msgs/OrderedCollisionOperations
# A set of collision operations that will be performed in the order they are specified
CollisionOperation[] collision_operations
================================================================================
MSG: arm_navigation_msgs/CollisionOperation
# A definition of a collision operation
# E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
# between the gripper and all objects in the collision space

string object1
string object2
string COLLISION_SET_ALL="all"
string COLLISION_SET_OBJECTS="objects"
string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.
float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
int32 operation
int32 DISABLE=0
int32 ENABLE=1

================================================================================
MSG: arm_navigation_msgs/LinkPadding
#name for the link
string link_name

# padding to apply to the link
float64 padding

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

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

    The available fields are:
       header,goal_id,goal

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

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.place_locations:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.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))
        _v3 = val1.pose
        _v4 = _v3.position
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = _v3.orientation
        _x = _v5
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.goal.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.goal.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.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.goal.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.position))
      length = len(self.goal.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.velocity))
      length = len(self.goal.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.goal.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.goal.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.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.goal.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.position))
      length = len(self.goal.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.velocity))
      length = len(self.goal.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_8dB2f.pack(_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.grasp.desired_approach_distance, _x.goal.grasp.min_approach_distance))
      length = len(self.goal.grasp.moved_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.moved_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v6 = val2.pose
          _v7 = _v6.header
          buff.write(_struct_I.pack(_v7.seq))
          _v8 = _v7.stamp
          _x = _v8
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v7.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))
          _v9 = _v6.pose
          _v10 = _v9.position
          _x = _v10
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v11 = _v9.orientation
          _x = _v11
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v12 = val1.cluster
        _v13 = _v12.header
        buff.write(_struct_I.pack(_v13.seq))
        _v14 = _v13.stamp
        _x = _v14
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v13.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(_v12.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v12.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v12.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v12.channels:
          _x = val3.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(struct.pack(pattern, *val3.values))
        _v15 = val1.region
        _v16 = _v15.cloud
        _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))
        _x = _v16
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v16.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v16.fields:
          _x = val4.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v16
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v16.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(_v16.is_dense))
        length = len(_v15.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v15.mask))
        _v19 = _v15.image
        _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))
        _x = _v19
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v19.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 = _v19
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v19.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))
        _v22 = _v15.disparity_image
        _v23 = _v22.header
        buff.write(_struct_I.pack(_v23.seq))
        _v24 = _v23.stamp
        _x = _v24
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v23.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v22
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v22.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 = _v22
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v22.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))
        _v25 = _v15.cam_info
        _v26 = _v25.header
        buff.write(_struct_I.pack(_v26.seq))
        _v27 = _v26.stamp
        _x = _v27
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v26.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 = _v25
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v25.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(_v25.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v25.D))
        buff.write(_struct_9d.pack(*_v25.K))
        buff.write(_struct_9d.pack(*_v25.R))
        buff.write(_struct_12d.pack(*_v25.P))
        _x = _v25
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v28 = _v25.roi
        _x = _v28
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v29 = _v15.roi_box_pose
        _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))
        _v32 = _v29.pose
        _v33 = _v32.position
        _x = _v33
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v34 = _v32.orientation
        _x = _v34
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v35 = _v15.roi_box_dims
        _x = _v35
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f3I.pack(_x.goal.desired_retreat_distance, _x.goal.min_retreat_distance, _x.goal.approach.direction.header.seq, _x.goal.approach.direction.header.stamp.secs, _x.goal.approach.direction.header.stamp.nsecs))
      _x = self.goal.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_3d2f.pack(_x.goal.approach.direction.vector.x, _x.goal.approach.direction.vector.y, _x.goal.approach.direction.vector.z, _x.goal.approach.desired_distance, _x.goal.approach.min_distance))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2BdB.pack(_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_place, _x.goal.place_padding, _x.goal.only_perform_feasibility_test))
      length = len(self.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.position_constraints:
        _v36 = val1.header
        buff.write(_struct_I.pack(_v36.seq))
        _v37 = _v36.stamp
        _x = _v37
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v36.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_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))
        _v38 = val1.target_point_offset
        _x = _v38
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v39 = val1.position
        _x = _v39
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v40 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v40.type))
        length = len(_v40.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v40.dimensions))
        length = len(_v40.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v40.triangles))
        length = len(_v40.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v40.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v41 = val1.constraint_region_orientation
        _x = _v41
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.orientation_constraints:
        _v42 = val1.header
        buff.write(_struct_I.pack(_v42.seq))
        _v43 = _v42.stamp
        _x = _v43
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v42.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 = val1.link_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))
        buff.write(_struct_i.pack(val1.type))
        _v44 = val1.orientation
        _x = _v44
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.visibility_constraints:
        _v45 = val1.header
        buff.write(_struct_I.pack(_v45.seq))
        _v46 = _v45.stamp
        _x = _v46
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v45.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))
        _v47 = val1.target
        _v48 = _v47.header
        buff.write(_struct_I.pack(_v48.seq))
        _v49 = _v48.stamp
        _x = _v49
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v48.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))
        _v50 = _v47.point
        _x = _v50
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v51 = val1.sensor_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.absolute_tolerance))
      length = len(self.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_link_padding:
        _x = val1.link_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))
        buff.write(_struct_d.pack(val1.padding))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.PlaceGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.place_locations = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v57 = val1.header
        start = end
        end += 4
        (_v57.seq,) = _struct_I.unpack(str[start:end])
        _v58 = _v57.stamp
        _x = _v58
        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:
          _v57.frame_id = str[start:end].decode('utf-8')
        else:
          _v57.frame_id = str[start:end]
        _v59 = val1.pose
        _v60 = _v59.position
        _x = _v60
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v61 = _v59.orientation
        _x = _v61
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.goal.place_locations.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.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.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.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.goal.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.goal.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.goal.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.goal.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.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.goal.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.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.goal.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.goal.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.goal.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.goal.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 73
      (_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.grasp.desired_approach_distance, _x.goal.grasp.min_approach_distance,) = _struct_8dB2f.unpack(str[start:end])
      self.goal.grasp.cluster_rep = bool(self.goal.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.moved_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v62 = val2.pose
          _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]
          _v65 = _v62.pose
          _v66 = _v65.position
          _x = _v66
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v67 = _v65.orientation
          _x = _v67
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.detector_name = str[start:end].decode('utf-8')
          else:
            val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v68 = val1.cluster
        _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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v68.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v68.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v68.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = struct.unpack(pattern, str[start:end])
          _v68.channels.append(val3)
        _v71 = val1.region
        _v72 = _v71.cloud
        _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]
        _x = _v72
        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])
        _v72.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val4.name = str[start:end].decode('utf-8')
          else:
            val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v72.fields.append(val4)
        _x = _v72
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v72.is_bigendian = bool(_v72.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v72.data = str[start:end].decode('utf-8')
        else:
          _v72.data = str[start:end]
        start = end
        end += 1
        (_v72.is_dense,) = _struct_B.unpack(str[start:end])
        _v72.is_dense = bool(_v72.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v71.mask = struct.unpack(pattern, str[start:end])
        _v75 = _v71.image
        _v76 = _v75.header
        start = end
        end += 4
        (_v76.seq,) = _struct_I.unpack(str[start:end])
        _v77 = _v76.stamp
        _x = _v77
        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:
          _v76.frame_id = str[start:end].decode('utf-8')
        else:
          _v76.frame_id = str[start:end]
        _x = _v75
        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:
          _v75.encoding = str[start:end].decode('utf-8')
        else:
          _v75.encoding = str[start:end]
        _x = _v75
        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:
          _v75.data = str[start:end].decode('utf-8')
        else:
          _v75.data = str[start:end]
        _v78 = _v71.disparity_image
        _v79 = _v78.header
        start = end
        end += 4
        (_v79.seq,) = _struct_I.unpack(str[start:end])
        _v80 = _v79.stamp
        _x = _v80
        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:
          _v79.frame_id = str[start:end].decode('utf-8')
        else:
          _v79.frame_id = str[start:end]
        _x = _v78
        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:
          _v78.encoding = str[start:end].decode('utf-8')
        else:
          _v78.encoding = str[start:end]
        _x = _v78
        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:
          _v78.data = str[start:end].decode('utf-8')
        else:
          _v78.data = str[start:end]
        _v81 = _v71.cam_info
        _v82 = _v81.header
        start = end
        end += 4
        (_v82.seq,) = _struct_I.unpack(str[start:end])
        _v83 = _v82.stamp
        _x = _v83
        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:
          _v82.frame_id = str[start:end].decode('utf-8')
        else:
          _v82.frame_id = str[start:end]
        _x = _v81
        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:
          _v81.distortion_model = str[start:end].decode('utf-8')
        else:
          _v81.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)
        _v81.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v81.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v81.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v81.P = _struct_12d.unpack(str[start:end])
        _x = _v81
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v84 = _v81.roi
        _x = _v84
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v84.do_rectify = bool(_v84.do_rectify)
        _v85 = _v71.roi_box_pose
        _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.pose
        _v89 = _v88.position
        _x = _v89
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v90 = _v88.orientation
        _x = _v90
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v91 = _v71.roi_box_dims
        _x = _v91
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.grasp.moved_obstacles.append(val1)
      _x = self
      start = end
      end += 20
      (_x.goal.desired_retreat_distance, _x.goal.min_retreat_distance, _x.goal.approach.direction.header.seq, _x.goal.approach.direction.header.stamp.secs, _x.goal.approach.direction.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.goal.approach.direction.vector.x, _x.goal.approach.direction.vector.y, _x.goal.approach.direction.vector.z, _x.goal.approach.desired_distance, _x.goal.approach.min_distance,) = _struct_3d2f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 11
      (_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_place, _x.goal.place_padding, _x.goal.only_perform_feasibility_test,) = _struct_2BdB.unpack(str[start:end])
      self.goal.allow_gripper_support_collision = bool(self.goal.allow_gripper_support_collision)
      self.goal.use_reactive_place = bool(self.goal.use_reactive_place)
      self.goal.only_perform_feasibility_test = bool(self.goal.only_perform_feasibility_test)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v92 = val1.header
        start = end
        end += 4
        (_v92.seq,) = _struct_I.unpack(str[start:end])
        _v93 = _v92.stamp
        _x = _v93
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v92.frame_id = str[start:end].decode('utf-8')
        else:
          _v92.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v94 = val1.target_point_offset
        _x = _v94
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v95 = val1.position
        _x = _v95
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v96 = val1.constraint_region_shape
        start = end
        end += 1
        (_v96.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v96.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v96.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v96.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v96.vertices.append(val3)
        _v97 = val1.constraint_region_orientation
        _x = _v97
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v98 = val1.header
        start = end
        end += 4
        (_v98.seq,) = _struct_I.unpack(str[start:end])
        _v99 = _v98.stamp
        _x = _v99
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v98.frame_id = str[start:end].decode('utf-8')
        else:
          _v98.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v100 = val1.orientation
        _x = _v100
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v101 = val1.header
        start = end
        end += 4
        (_v101.seq,) = _struct_I.unpack(str[start:end])
        _v102 = _v101.stamp
        _x = _v102
        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:
          _v101.frame_id = str[start:end].decode('utf-8')
        else:
          _v101.frame_id = str[start:end]
        _v103 = val1.target
        _v104 = _v103.header
        start = end
        end += 4
        (_v104.seq,) = _struct_I.unpack(str[start:end])
        _v105 = _v104.stamp
        _x = _v105
        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:
          _v104.frame_id = str[start:end].decode('utf-8')
        else:
          _v104.frame_id = str[start:end]
        _v106 = _v103.point
        _x = _v106
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v107 = val1.sensor_pose
        _v108 = _v107.header
        start = end
        end += 4
        (_v108.seq,) = _struct_I.unpack(str[start:end])
        _v109 = _v108.stamp
        _x = _v109
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v108.frame_id = str[start:end].decode('utf-8')
        else:
          _v108.frame_id = str[start:end]
        _v110 = _v107.pose
        _v111 = _v110.position
        _x = _v111
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v112 = _v110.orientation
        _x = _v112
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.goal.additional_link_padding.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.arm_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.place_locations:
        _v113 = val1.header
        buff.write(_struct_I.pack(_v113.seq))
        _v114 = _v113.stamp
        _x = _v114
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v113.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))
        _v115 = val1.pose
        _v116 = _v115.position
        _x = _v116
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v117 = _v115.orientation
        _x = _v117
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.goal.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.goal.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.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.goal.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.position.tostring())
      length = len(self.goal.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.goal.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.goal.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.goal.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.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.goal.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.position.tostring())
      length = len(self.goal.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.velocity.tostring())
      length = len(self.goal.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_8dB2f.pack(_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.grasp.desired_approach_distance, _x.goal.grasp.min_approach_distance))
      length = len(self.goal.grasp.moved_obstacles)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.moved_obstacles:
        _x = val1.reference_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.potential_models)
        buff.write(_struct_I.pack(length))
        for val2 in val1.potential_models:
          buff.write(_struct_i.pack(val2.model_id))
          _v118 = val2.pose
          _v119 = _v118.header
          buff.write(_struct_I.pack(_v119.seq))
          _v120 = _v119.stamp
          _x = _v120
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v119.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))
          _v121 = _v118.pose
          _v122 = _v121.position
          _x = _v122
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v123 = _v121.orientation
          _x = _v123
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_f.pack(val2.confidence))
          _x = val2.detector_name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v124 = val1.cluster
        _v125 = _v124.header
        buff.write(_struct_I.pack(_v125.seq))
        _v126 = _v125.stamp
        _x = _v126
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v125.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(_v124.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v124.points:
          _x = val3
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(_v124.channels)
        buff.write(_struct_I.pack(length))
        for val3 in _v124.channels:
          _x = val3.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.values)
          buff.write(_struct_I.pack(length))
          pattern = '<%sf'%length
          buff.write(val3.values.tostring())
        _v127 = val1.region
        _v128 = _v127.cloud
        _v129 = _v128.header
        buff.write(_struct_I.pack(_v129.seq))
        _v130 = _v129.stamp
        _x = _v130
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v129.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 = _v128
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v128.fields)
        buff.write(_struct_I.pack(length))
        for val4 in _v128.fields:
          _x = val4.name
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val4
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v128
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v128.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(_v128.is_dense))
        length = len(_v127.mask)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v127.mask.tostring())
        _v131 = _v127.image
        _v132 = _v131.header
        buff.write(_struct_I.pack(_v132.seq))
        _v133 = _v132.stamp
        _x = _v133
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v132.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 = _v131
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v131.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 = _v131
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v131.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))
        _v134 = _v127.disparity_image
        _v135 = _v134.header
        buff.write(_struct_I.pack(_v135.seq))
        _v136 = _v135.stamp
        _x = _v136
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v135.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 = _v134
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v134.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 = _v134
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v134.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))
        _v137 = _v127.cam_info
        _v138 = _v137.header
        buff.write(_struct_I.pack(_v138.seq))
        _v139 = _v138.stamp
        _x = _v139
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v138.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 = _v137
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v137.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(_v137.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v137.D.tostring())
        buff.write(_v137.K.tostring())
        buff.write(_v137.R.tostring())
        buff.write(_v137.P.tostring())
        _x = _v137
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v140 = _v137.roi
        _x = _v140
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        _v141 = _v127.roi_box_pose
        _v142 = _v141.header
        buff.write(_struct_I.pack(_v142.seq))
        _v143 = _v142.stamp
        _x = _v143
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v142.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))
        _v144 = _v141.pose
        _v145 = _v144.position
        _x = _v145
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v146 = _v144.orientation
        _x = _v146
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v147 = _v127.roi_box_dims
        _x = _v147
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _x = val1.collision_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f3I.pack(_x.goal.desired_retreat_distance, _x.goal.min_retreat_distance, _x.goal.approach.direction.header.seq, _x.goal.approach.direction.header.stamp.secs, _x.goal.approach.direction.header.stamp.nsecs))
      _x = self.goal.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_3d2f.pack(_x.goal.approach.direction.vector.x, _x.goal.approach.direction.vector.y, _x.goal.approach.direction.vector.z, _x.goal.approach.desired_distance, _x.goal.approach.min_distance))
      _x = self.goal.collision_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2BdB.pack(_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_place, _x.goal.place_padding, _x.goal.only_perform_feasibility_test))
      length = len(self.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.position_constraints:
        _v148 = val1.header
        buff.write(_struct_I.pack(_v148.seq))
        _v149 = _v148.stamp
        _x = _v149
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v148.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 = val1.link_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))
        _v150 = val1.target_point_offset
        _x = _v150
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v151 = val1.position
        _x = _v151
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v152 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v152.type))
        length = len(_v152.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v152.dimensions.tostring())
        length = len(_v152.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v152.triangles.tostring())
        length = len(_v152.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v152.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v153 = val1.constraint_region_orientation
        _x = _v153
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.orientation_constraints:
        _v154 = val1.header
        buff.write(_struct_I.pack(_v154.seq))
        _v155 = _v154.stamp
        _x = _v155
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v154.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 = val1.link_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))
        buff.write(_struct_i.pack(val1.type))
        _v156 = val1.orientation
        _x = _v156
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.path_constraints.visibility_constraints:
        _v157 = val1.header
        buff.write(_struct_I.pack(_v157.seq))
        _v158 = _v157.stamp
        _x = _v158
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v157.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))
        _v159 = val1.target
        _v160 = _v159.header
        buff.write(_struct_I.pack(_v160.seq))
        _v161 = _v160.stamp
        _x = _v161
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v160.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))
        _v162 = _v159.point
        _x = _v162
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v163 = val1.sensor_pose
        _v164 = _v163.header
        buff.write(_struct_I.pack(_v164.seq))
        _v165 = _v164.stamp
        _x = _v165
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v164.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))
        _v166 = _v163.pose
        _v167 = _v166.position
        _x = _v167
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v168 = _v166.orientation
        _x = _v168
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.goal.additional_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.goal.additional_link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.additional_link_padding:
        _x = val1.link_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))
        buff.write(_struct_d.pack(val1.padding))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = object_manipulation_msgs.msg.PlaceGoal()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_id.id = str[start:end].decode('utf-8')
      else:
        self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.arm_name = str[start:end].decode('utf-8')
      else:
        self.goal.arm_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.place_locations = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v169 = val1.header
        start = end
        end += 4
        (_v169.seq,) = _struct_I.unpack(str[start:end])
        _v170 = _v169.stamp
        _x = _v170
        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:
          _v169.frame_id = str[start:end].decode('utf-8')
        else:
          _v169.frame_id = str[start:end]
        _v171 = val1.pose
        _v172 = _v171.position
        _x = _v172
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v173 = _v171.orientation
        _x = _v173
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.goal.place_locations.append(val1)
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.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.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.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.goal.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.goal.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.goal.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.goal.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.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.goal.grasp.grasp_posture.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.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.goal.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.goal.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.goal.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.goal.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 73
      (_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.grasp.desired_approach_distance, _x.goal.grasp.min_approach_distance,) = _struct_8dB2f.unpack(str[start:end])
      self.goal.grasp.cluster_rep = bool(self.goal.grasp.cluster_rep)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.moved_obstacles = []
      for i in range(0, length):
        val1 = object_manipulation_msgs.msg.GraspableObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.reference_frame_id = str[start:end].decode('utf-8')
        else:
          val1.reference_frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.potential_models = []
        for i in range(0, length):
          val2 = household_objects_database_msgs.msg.DatabaseModelPose()
          start = end
          end += 4
          (val2.model_id,) = _struct_i.unpack(str[start:end])
          _v174 = val2.pose
          _v175 = _v174.header
          start = end
          end += 4
          (_v175.seq,) = _struct_I.unpack(str[start:end])
          _v176 = _v175.stamp
          _x = _v176
          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:
            _v175.frame_id = str[start:end].decode('utf-8')
          else:
            _v175.frame_id = str[start:end]
          _v177 = _v174.pose
          _v178 = _v177.position
          _x = _v178
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v179 = _v177.orientation
          _x = _v179
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 4
          (val2.confidence,) = _struct_f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.detector_name = str[start:end].decode('utf-8')
          else:
            val2.detector_name = str[start:end]
          val1.potential_models.append(val2)
        _v180 = val1.cluster
        _v181 = _v180.header
        start = end
        end += 4
        (_v181.seq,) = _struct_I.unpack(str[start:end])
        _v182 = _v181.stamp
        _x = _v182
        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:
          _v181.frame_id = str[start:end].decode('utf-8')
        else:
          _v181.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v180.points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point32()
          _x = val3
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v180.points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v180.channels = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.ChannelFloat32()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sf'%length
          start = end
          end += struct.calcsize(pattern)
          val3.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
          _v180.channels.append(val3)
        _v183 = val1.region
        _v184 = _v183.cloud
        _v185 = _v184.header
        start = end
        end += 4
        (_v185.seq,) = _struct_I.unpack(str[start:end])
        _v186 = _v185.stamp
        _x = _v186
        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:
          _v185.frame_id = str[start:end].decode('utf-8')
        else:
          _v185.frame_id = str[start:end]
        _x = _v184
        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])
        _v184.fields = []
        for i in range(0, length):
          val4 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val4.name = str[start:end].decode('utf-8')
          else:
            val4.name = str[start:end]
          _x = val4
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v184.fields.append(val4)
        _x = _v184
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v184.is_bigendian = bool(_v184.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v184.data = str[start:end].decode('utf-8')
        else:
          _v184.data = str[start:end]
        start = end
        end += 1
        (_v184.is_dense,) = _struct_B.unpack(str[start:end])
        _v184.is_dense = bool(_v184.is_dense)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v183.mask = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        _v187 = _v183.image
        _v188 = _v187.header
        start = end
        end += 4
        (_v188.seq,) = _struct_I.unpack(str[start:end])
        _v189 = _v188.stamp
        _x = _v189
        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:
          _v188.frame_id = str[start:end].decode('utf-8')
        else:
          _v188.frame_id = str[start:end]
        _x = _v187
        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:
          _v187.encoding = str[start:end].decode('utf-8')
        else:
          _v187.encoding = str[start:end]
        _x = _v187
        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:
          _v187.data = str[start:end].decode('utf-8')
        else:
          _v187.data = str[start:end]
        _v190 = _v183.disparity_image
        _v191 = _v190.header
        start = end
        end += 4
        (_v191.seq,) = _struct_I.unpack(str[start:end])
        _v192 = _v191.stamp
        _x = _v192
        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:
          _v191.frame_id = str[start:end].decode('utf-8')
        else:
          _v191.frame_id = str[start:end]
        _x = _v190
        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:
          _v190.encoding = str[start:end].decode('utf-8')
        else:
          _v190.encoding = str[start:end]
        _x = _v190
        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:
          _v190.data = str[start:end].decode('utf-8')
        else:
          _v190.data = str[start:end]
        _v193 = _v183.cam_info
        _v194 = _v193.header
        start = end
        end += 4
        (_v194.seq,) = _struct_I.unpack(str[start:end])
        _v195 = _v194.stamp
        _x = _v195
        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:
          _v194.frame_id = str[start:end].decode('utf-8')
        else:
          _v194.frame_id = str[start:end]
        _x = _v193
        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:
          _v193.distortion_model = str[start:end].decode('utf-8')
        else:
          _v193.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)
        _v193.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v193.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v193.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v193.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v193
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v196 = _v193.roi
        _x = _v196
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v196.do_rectify = bool(_v196.do_rectify)
        _v197 = _v183.roi_box_pose
        _v198 = _v197.header
        start = end
        end += 4
        (_v198.seq,) = _struct_I.unpack(str[start:end])
        _v199 = _v198.stamp
        _x = _v199
        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:
          _v198.frame_id = str[start:end].decode('utf-8')
        else:
          _v198.frame_id = str[start:end]
        _v200 = _v197.pose
        _v201 = _v200.position
        _x = _v201
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v202 = _v200.orientation
        _x = _v202
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v203 = _v183.roi_box_dims
        _x = _v203
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.collision_name = str[start:end].decode('utf-8')
        else:
          val1.collision_name = str[start:end]
        self.goal.grasp.moved_obstacles.append(val1)
      _x = self
      start = end
      end += 20
      (_x.goal.desired_retreat_distance, _x.goal.min_retreat_distance, _x.goal.approach.direction.header.seq, _x.goal.approach.direction.header.stamp.secs, _x.goal.approach.direction.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.approach.direction.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal.approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.goal.approach.direction.vector.x, _x.goal.approach.direction.vector.y, _x.goal.approach.direction.vector.z, _x.goal.approach.desired_distance, _x.goal.approach.min_distance,) = _struct_3d2f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_object_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
      else:
        self.goal.collision_support_surface_name = str[start:end]
      _x = self
      start = end
      end += 11
      (_x.goal.allow_gripper_support_collision, _x.goal.use_reactive_place, _x.goal.place_padding, _x.goal.only_perform_feasibility_test,) = _struct_2BdB.unpack(str[start:end])
      self.goal.allow_gripper_support_collision = bool(self.goal.allow_gripper_support_collision)
      self.goal.use_reactive_place = bool(self.goal.use_reactive_place)
      self.goal.only_perform_feasibility_test = bool(self.goal.only_perform_feasibility_test)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.PositionConstraint()
        _v204 = val1.header
        start = end
        end += 4
        (_v204.seq,) = _struct_I.unpack(str[start:end])
        _v205 = _v204.stamp
        _x = _v205
        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:
          _v204.frame_id = str[start:end].decode('utf-8')
        else:
          _v204.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v206 = val1.target_point_offset
        _x = _v206
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v207 = val1.position
        _x = _v207
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v208 = val1.constraint_region_shape
        start = end
        end += 1
        (_v208.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v208.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v208.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v208.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v208.vertices.append(val3)
        _v209 = val1.constraint_region_orientation
        _x = _v209
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientationConstraint()
        _v210 = val1.header
        start = end
        end += 4
        (_v210.seq,) = _struct_I.unpack(str[start:end])
        _v211 = _v210.stamp
        _x = _v211
        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:
          _v210.frame_id = str[start:end].decode('utf-8')
        else:
          _v210.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v212 = val1.orientation
        _x = _v212
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.VisibilityConstraint()
        _v213 = val1.header
        start = end
        end += 4
        (_v213.seq,) = _struct_I.unpack(str[start:end])
        _v214 = _v213.stamp
        _x = _v214
        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:
          _v213.frame_id = str[start:end].decode('utf-8')
        else:
          _v213.frame_id = str[start:end]
        _v215 = val1.target
        _v216 = _v215.header
        start = end
        end += 4
        (_v216.seq,) = _struct_I.unpack(str[start:end])
        _v217 = _v216.stamp
        _x = _v217
        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:
          _v216.frame_id = str[start:end].decode('utf-8')
        else:
          _v216.frame_id = str[start:end]
        _v218 = _v215.point
        _x = _v218
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v219 = val1.sensor_pose
        _v220 = _v219.header
        start = end
        end += 4
        (_v220.seq,) = _struct_I.unpack(str[start:end])
        _v221 = _v220.stamp
        _x = _v221
        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:
          _v220.frame_id = str[start:end].decode('utf-8')
        else:
          _v220.frame_id = str[start:end]
        _v222 = _v219.pose
        _v223 = _v222.position
        _x = _v223
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v224 = _v222.orientation
        _x = _v224
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.additional_collision_operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.goal.additional_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.additional_link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.goal.additional_link_padding.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_12d = struct.Struct("<12d")
_struct_BI = struct.Struct("<BI")
_struct_2BdB = struct.Struct("<2BdB")
_struct_3I = struct.Struct("<3I")
_struct_B2I = struct.Struct("<B2I")
_struct_8dB2f = struct.Struct("<8dB2f")
_struct_2f3I = struct.Struct("<2f3I")
_struct_3f = struct.Struct("<3f")
_struct_3d = struct.Struct("<3d")
_struct_B = struct.Struct("<B")
_struct_di = struct.Struct("<di")
_struct_9d = struct.Struct("<9d")
_struct_2I = struct.Struct("<2I")
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_i = struct.Struct("<i")
_struct_3d2f = struct.Struct("<3d2f")
_struct_4d = struct.Struct("<4d")
_struct_4IB = struct.Struct("<4IB")