# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from moveit_msgs/PlaceAction.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import actionlib_msgs.msg
import genpy
import geometry_msgs.msg
import moveit_msgs.msg
import object_recognition_msgs.msg
import octomap_msgs.msg
import sensor_msgs.msg
import shape_msgs.msg
import std_msgs.msg
import trajectory_msgs.msg

class PlaceAction(genpy.Message):
  _md5sum = "75889272b1933a2dc1af2de3bb645a64"
  _type = "moveit_msgs/PlaceAction"
  _has_header = False  # flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PlaceActionGoal action_goal
PlaceActionResult action_result
PlaceActionFeedback action_feedback

================================================================================
MSG: moveit_msgs/PlaceActionGoal
# ====== 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.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
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: moveit_msgs/PlaceGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# An action for placing an object

# which group to be used to plan for grasping
string group_name

# the name of the attached object to place
string attached_object_name

# a list of possible transformations for placing the object
PlaceLocation[] place_locations

# if the user prefers setting the eef pose (same as in pick) rather than 
# the location of the object, this flag should be set to true
bool place_eef

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

# Optional constraints to be imposed on every point in the motion plan
Constraints path_constraints

# The name of the motion planner to use. If no name is specified,
# a default motion planner will be used
string planner_id

# an optional list of obstacles that we have semantic information about
# and that can be touched/pushed/moved in the course of placing;
# CAREFUL: If the object name 'all' is used, collisions with all objects are disabled during the approach & retreat.
string[] allowed_touch_objects

# The maximum amount of time the motion planner is allowed to plan for
float64 allowed_planning_time

# Planning options
PlanningOptions planning_options


================================================================================
MSG: moveit_msgs/PlaceLocation
# A name for this grasp
string id

# The internal posture of the hand for the grasp
# positions and efforts are used
trajectory_msgs/JointTrajectory post_place_posture

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

# The approach motion
GripperTranslation pre_place_approach

# The retreat motion
GripperTranslation post_place_retreat

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

================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points

================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
# Each trajectory point specifies either positions[, velocities[, accelerations]]
# or positions[, effort] for the trajectory to be executed.
# All specified values are in the same order as the joint names in JointTrajectory.msg

float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start

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

# the direction of the translation
geometry_msgs/Vector3Stamped direction

# the desired translation distance
float32 desired_distance

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

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

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a 
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.

float64 x
float64 y
float64 z
================================================================================
MSG: moveit_msgs/Constraints
# This message contains a list of motion planning constraints.
# All constraints must be satisfied for a goal to be considered valid

string name

JointConstraint[] joint_constraints

PositionConstraint[] position_constraints

OrientationConstraint[] orientation_constraints

VisibilityConstraint[] visibility_constraints

================================================================================
MSG: moveit_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 (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight
================================================================================
MSG: moveit_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/Vector3 target_point_offset

# The volume this constraint refers to 
BoundingVolume constraint_region

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/BoundingVolume
# Define a volume in 3D

# A set of solid geometric primitives that make up the volume to define (as a union)
shape_msgs/SolidPrimitive[] primitives

# The poses at which the primitives are located
geometry_msgs/Pose[] primitive_poses

# In addition to primitives, meshes can be specified to add to the bounding volume (again, as union)
shape_msgs/Mesh[] meshes

# The poses at which the meshes are located
geometry_msgs/Pose[] mesh_poses

================================================================================
MSG: shape_msgs/SolidPrimitive
# Define box, sphere, cylinder, cone 
# All shapes are defined to have their bounding boxes centered around 0,0,0.

uint8 BOX=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 CONE=4

# The type of the shape
uint8 type


# The dimensions of the shape
float64[] dimensions

# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array

# For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
# sides of the box.
uint8 BOX_X=0
uint8 BOX_Y=1
uint8 BOX_Z=2


# For the SPHERE type, only one component is used, and it gives the radius of
# the sphere.
uint8 SPHERE_RADIUS=0


# For the CYLINDER and CONE types, the center line is oriented along
# the Z axis.  Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
# of dimensions gives the height of the cylinder (cone).  The
# CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
# radius of the base of the cylinder (cone).  Cone and cylinder
# primitives are defined to be circular. The tip of the cone is
# pointing up, along +Z axis.

uint8 CYLINDER_HEIGHT=0
uint8 CYLINDER_RADIUS=1

uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1

================================================================================
MSG: shape_msgs/Mesh
# Definition of a mesh

# list of triangles; the index values refer to positions in vertices[]
MeshTriangle[] triangles

# the actual vertices that make up the mesh
geometry_msgs/Point[] vertices

================================================================================
MSG: shape_msgs/MeshTriangle
# Definition of a triangle's vertices
uint32[3] vertex_indices

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

Header header

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

# The robot link this constraint refers to
string link_name

# optional axis-angle error tolerances specified
float64 absolute_x_axis_tolerance
float64 absolute_y_axis_tolerance
float64 absolute_z_axis_tolerance

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/VisibilityConstraint
# The constraint is useful to maintain visibility to a disc (the target) in a particular frame.
# This disc forms the base of a visibiliy cone whose tip is at the origin of the sensor.
# Maintaining visibility is done by ensuring the robot does not obstruct the visibility cone.
# Note:
# This constraint does NOT enforce minimum or maximum distances between the sensor
# and the target, nor does it enforce the target to be in the field of view of
# the sensor. A PositionConstraint can (and probably should) be used for such purposes.

# The radius of the disc that should be maintained visible 
float64 target_radius

# The pose of the disc; as the robot moves, the pose of the disc may change as well
# This can be in the frame of a particular robot link, for example
geometry_msgs/PoseStamped target_pose

# From the sensor origin towards the target, the disc forms a visibility cone
# This cone is approximated using many sides. For example, when using 4 sides, 
# that in fact makes the visibility region be a pyramid.
# This value should always be 3 or more.
int32 cone_sides

# The pose in which visibility is to be maintained.
# The frame id should represent the robot link to which the sensor is attached.
# It is assumed the sensor can look directly at the target, in any direction.
# This assumption is usually not true, but additional PositionConstraints
# can resolve this issue.
geometry_msgs/PoseStamped sensor_pose

# Even though the disc is maintained visible, the visibility cone can be very small
# because of the orientation of the disc with respect to the sensor. It is possible
# for example to view the disk almost from a side, in which case the visibility cone 
# can end up having close to 0 volume. The view angle is defined to be the angle between
# the normal to the visibility disc and the direction vector from the sensor origin.
# The value below represents the minimum desired view angle. For a perfect view,
# this value will be 0 (the two vectors are exact opposites). For a completely obstructed view
# this value will be Pi/2 (the vectors are perpendicular). This value defined below 
# is the maximum view angle to be maintained. This should be a value in the open interval
# (0, Pi/2). If 0 is set, the view angle is NOT enforced.
float64 max_view_angle

# This angle is used similarly to max_view_angle but limits the maximum angle
# between the sensor origin direction vector and the axis that connects the
# sensor origin to the target frame origin. The value is again in the range (0, Pi/2)
# and is NOT enforced if set to 0.
float64 max_range_angle

# The axis that is assumed to indicate the direction of view for the sensor
# X = 2, Y = 1, Z = 0
uint8 SENSOR_Z=0
uint8 SENSOR_Y=1
uint8 SENSOR_X=2
uint8 sensor_view_direction

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight

================================================================================
MSG: moveit_msgs/PlanningOptions

# The diff to consider for the planning scene (optional)
PlanningScene planning_scene_diff

# If this flag is set to true, the action
# returns an executable plan in the response but does not attempt execution  
bool plan_only

# If this flag is set to true, the action of planning &
# executing is allowed to look around  (move sensors) if
# it seems that not enough information is available about
# the environment
bool look_around

# If this value is positive, the action of planning & executing
# is allowed to look around for a maximum number of attempts;
# If the value is left as 0, the default value is used, as set
# with dynamic_reconfigure
int32 look_around_attempts

# If set and if look_around is true, this value is used as
# the maximum cost allowed for a path to be considered executable.
# If the cost of a path is higher than this value, more sensing or 
# a new plan needed. If left as 0.0 but look_around is true, then 
# the default value set via dynamic_reconfigure is used
float64 max_safe_execution_cost

# If the plan becomes invalidated during execution, it is possible to have
# that plan recomputed and execution restarted. This flag enables this
# functionality 
bool replan

# The maximum number of replanning attempts 
int32 replan_attempts

# The amount of time to wait in between replanning attempts (in seconds)
float64 replan_delay

================================================================================
MSG: moveit_msgs/PlanningScene
# name of planning scene
string name

# full robot state
RobotState robot_state

# The name of the robot model this scene is for
string robot_model_name

#additional frames for duplicating tf (with respect to the planning frame)
geometry_msgs/TransformStamped[] fixed_frame_transforms

#full allowed collision matrix
AllowedCollisionMatrix allowed_collision_matrix

# all link paddings
LinkPadding[] link_padding

# all link scales
LinkScale[] link_scale

# Attached objects, collision objects, even the octomap or collision map can have 
# colors associated to them. This array specifies them.
ObjectColor[] object_colors

# the collision map
PlanningSceneWorld world

# Flag indicating whether this scene is to be interpreted as a diff with respect to some other scene
bool is_diff

================================================================================
MSG: moveit_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state

# Joints that may have multiple DOF are specified here
sensor_msgs/MultiDOFJointState multi_dof_joint_state

# Attached collision objects (attached to some link on the robot)
AttachedCollisionObject[] attached_collision_objects

# Flag indicating whether this scene is to be interpreted as a diff with respect to some other scene
# This is mostly important for handling the attached bodies (whether or not to clear the attached bodies
# of a moveit::core::RobotState before updating it with this message)
bool is_diff

================================================================================
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: sensor_msgs/MultiDOFJointState
# Representation of state for joints with multiple degrees of freedom, 
# following the structure of JointState.
#
# It is assumed that a joint in a system corresponds to a transform that gets applied 
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)
# and those 3DOF can be expressed as a transformation matrix, and that transformation
# matrix can be converted back to (x, y, yaw)
#
# 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
# wrench associated with them, you can leave the wrench 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[] joint_names
geometry_msgs/Transform[] transforms
geometry_msgs/Twist[] twist
geometry_msgs/Wrench[] wrench

================================================================================
MSG: geometry_msgs/Transform
# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque

================================================================================
MSG: moveit_msgs/AttachedCollisionObject
# The CollisionObject will be attached with a fixed joint to this link
string link_name

#This contains the actual shapes and poses for the CollisionObject
#to be attached to the link
#If action is remove and no object.id is set, all objects
#attached to the link indicated by link_name will be removed
CollisionObject object

# The set of links that the attached objects are allowed to touch
# by default - the link_name is already considered by default
string[] touch_links

# If certain links were placed in a particular posture for this object to remain attached 
# (e.g., an end effector closing around an object), the posture necessary for releasing
# the object is stored here
trajectory_msgs/JointTrajectory detach_posture

# The weight of the attached object, if known
float64 weight

================================================================================
MSG: moveit_msgs/CollisionObject
# A header, used for interpreting the poses
Header header

# The id of the object (name used in MoveIt)
string id

# The object type in a database of known objects
object_recognition_msgs/ObjectType type

# The collision geometries associated with the object.
# Their poses are with respect to the specified header

# Solid geometric primitives
shape_msgs/SolidPrimitive[] primitives
geometry_msgs/Pose[] primitive_poses

# Meshes
shape_msgs/Mesh[] meshes
geometry_msgs/Pose[] mesh_poses

# Bounding planes (equation is specified, but the plane can be oriented using an additional pose)
shape_msgs/Plane[] planes
geometry_msgs/Pose[] plane_poses

# Adds the object to the planning scene. If the object previously existed, it is replaced.
byte ADD=0

# Removes the object from the environment entirely (everything that matches the specified id)
byte REMOVE=1

# Append to an object that already exists in the planning scene. If the object does not exist, it is added.
byte APPEND=2

# If an object already exists in the scene, new poses can be sent (the geometry arrays must be left empty)
# if solely moving the object is desired
byte MOVE=3

# Operation to be performed
byte operation

================================================================================
MSG: object_recognition_msgs/ObjectType
################################################## OBJECT ID #########################################################

# Contains information about the type of a found object. Those two sets of parameters together uniquely define an
# object

# The key of the found object: the unique identifier in the given db
string key

# The db parameters stored as a JSON/compressed YAML string. An object id does not make sense without the corresponding
# database. E.g., in object_recognition, it can look like: "{'type':'CouchDB', 'root':'http://localhost'}"
# There is no conventional format for those parameters and it's nice to keep that flexibility.
# The object_recognition_core as a generic DB type that can read those fields
# Current examples:
# For CouchDB:
#   type: 'CouchDB'
#   root: 'http://localhost:5984'
#   collection: 'object_recognition'
# For SQL household database:
#   type: 'SqlHousehold'
#   host: 'wgs36'
#   port: 5432
#   user: 'willow'
#   password: 'willow'
#   name: 'household_objects'
#   module: 'tabletop'
string db

================================================================================
MSG: shape_msgs/Plane
# Representation of a plane, using the plane equation ax + by + cz + d = 0

# a := coef[0]
# b := coef[1]
# c := coef[2]
# d := coef[3]

float64[4] coef

================================================================================
MSG: geometry_msgs/TransformStamped
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the 
# <a href="http://wiki.ros.org/tf">tf</a> package. 
# See its documentation for more information.

Header header
string child_frame_id # the frame id of the child frame
Transform transform

================================================================================
MSG: moveit_msgs/AllowedCollisionMatrix
# The list of entry names in the matrix
string[] entry_names

# The individual entries in the allowed collision matrix
# square, symmetric, with same order as entry_names
AllowedCollisionEntry[] entry_values

# In addition to the collision matrix itself, we also have 
# the default entry value for each entry name.

# If the allowed collision flag is queried for a pair of names (n1, n2)
# that is not found in the collision matrix itself, the value of
# the collision flag is considered to be that of the entry (n1 or n2)
# specified in the list below. If both n1 and n2 are found in the list 
# of defaults, the result is computed with an AND operation

string[] default_entry_names
bool[] default_entry_values

================================================================================
MSG: moveit_msgs/AllowedCollisionEntry
# whether or not collision checking is enabled
bool[] enabled

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

# padding to apply to the link
float64 padding

================================================================================
MSG: moveit_msgs/LinkScale
#name for the link
string link_name

# scaling to apply to the link
float64 scale

================================================================================
MSG: moveit_msgs/ObjectColor
# The object id for which we specify color
string id

# The value of the color
std_msgs/ColorRGBA color

================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

================================================================================
MSG: moveit_msgs/PlanningSceneWorld
# collision objects
CollisionObject[] collision_objects

# The octomap that represents additional collision data
octomap_msgs/OctomapWithPose octomap

================================================================================
MSG: octomap_msgs/OctomapWithPose
# A 3D map in binary format, as Octree
Header header

# The pose of the octree with respect to the header frame 
geometry_msgs/Pose origin

# The actual octree msg
octomap_msgs/Octomap octomap

================================================================================
MSG: octomap_msgs/Octomap
# A 3D map in binary format, as Octree
Header header

# Flag to denote a binary (only free/occupied) or full occupancy octree (.bt/.ot file)
bool binary

# Class id of the contained octree 
string id

# Resolution (in m) of the smallest octree nodes
float64 resolution

# binary serialization of octree, use conversions.h to read and write octrees
int8[] data

================================================================================
MSG: moveit_msgs/PlaceActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PlaceResult result

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

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


================================================================================
MSG: moveit_msgs/PlaceResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# The result of the place attempt
MoveItErrorCodes error_code

# The full starting state of the robot at the start of the trajectory
RobotState trajectory_start

# The trajectory that moved group produced for execution
RobotTrajectory[] trajectory_stages

string[] trajectory_descriptions

# The successful place location, if any
PlaceLocation place_location

# The amount of time in seconds it took to complete the plan
float64 planning_time

================================================================================
MSG: moveit_msgs/MoveItErrorCodes
int32 val

# overall behavior
int32 SUCCESS=1
int32 FAILURE=99999

int32 PLANNING_FAILED=-1
int32 INVALID_MOTION_PLAN=-2
int32 MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE=-3
int32 CONTROL_FAILED=-4
int32 UNABLE_TO_AQUIRE_SENSOR_DATA=-5
int32 TIMED_OUT=-6
int32 PREEMPTED=-7

# planning & kinematics request errors
int32 START_STATE_IN_COLLISION=-10
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-11

int32 GOAL_IN_COLLISION=-12
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-13
int32 GOAL_CONSTRAINTS_VIOLATED=-14

int32 INVALID_GROUP_NAME=-15
int32 INVALID_GOAL_CONSTRAINTS=-16
int32 INVALID_ROBOT_STATE=-17
int32 INVALID_LINK_NAME=-18
int32 INVALID_OBJECT_NAME=-19

# system errors
int32 FRAME_TRANSFORM_FAILURE=-21
int32 COLLISION_CHECKING_UNAVAILABLE=-22
int32 ROBOT_STATE_STALE=-23
int32 SENSOR_INFO_STALE=-24

# kinematics errors
int32 NO_IK_SOLUTION=-31

================================================================================
MSG: moveit_msgs/RobotTrajectory
trajectory_msgs/JointTrajectory joint_trajectory
trajectory_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory

================================================================================
MSG: trajectory_msgs/MultiDOFJointTrajectory
# The header is used to specify the coordinate frame and the reference time for the trajectory durations
Header header

# A representation of a multi-dof joint trajectory (each point is a transformation)
# Each point along the trajectory will include an array of positions/velocities/accelerations
# that has the same length as the array of joint names, and has the same order of joints as 
# the joint names array.

string[] joint_names
MultiDOFJointTrajectoryPoint[] points

================================================================================
MSG: trajectory_msgs/MultiDOFJointTrajectoryPoint
# Each multi-dof joint can specify a transform (up to 6 DOF)
geometry_msgs/Transform[] transforms

# There can be a velocity specified for the origin of the joint 
geometry_msgs/Twist[] velocities

# There can be an acceleration specified for the origin of the joint 
geometry_msgs/Twist[] accelerations

duration time_from_start

================================================================================
MSG: moveit_msgs/PlaceActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PlaceFeedback feedback

================================================================================
MSG: moveit_msgs/PlaceFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# The internal state that the place action currently is in
string state

"""
  __slots__ = ['action_goal','action_result','action_feedback']
  _slot_types = ['moveit_msgs/PlaceActionGoal','moveit_msgs/PlaceActionResult','moveit_msgs/PlaceActionFeedback']

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

    The available fields are:
       action_goal,action_result,action_feedback

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

  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(_get_struct_3I().pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.group_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.attached_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.place_locations:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v1 = val1.post_place_posture
        _v2 = _v1.header
        _x = _v2.seq
        buff.write(_get_struct_I().pack(_x))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v2.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v1.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v1.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v4 = val3.time_from_start
          _x = _v4
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v5 = val1.place_pose
        _v6 = _v5.header
        _x = _v6.seq
        buff.write(_get_struct_I().pack(_x))
        _v7 = _v6.stamp
        _x = _v7
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v6.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v8 = _v5.pose
        _v9 = _v8.position
        _x = _v9
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v10 = _v8.orientation
        _x = _v10
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _v11 = val1.pre_place_approach
        _v12 = _v11.direction
        _v13 = _v12.header
        _x = _v13.seq
        buff.write(_get_struct_I().pack(_x))
        _v14 = _v13.stamp
        _x = _v14
        buff.write(_get_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.Struct('<I%ss'%length).pack(length, _x))
        _v15 = _v12.vector
        _x = _v15
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v11
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v16 = val1.post_place_retreat
        _v17 = _v16.direction
        _v18 = _v17.header
        _x = _v18.seq
        buff.write(_get_struct_I().pack(_x))
        _v19 = _v18.stamp
        _x = _v19
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v18.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v20 = _v17.vector
        _x = _v20
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v16
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
      _x = self.action_goal.goal.place_eef
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.allow_gripper_support_collision
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.path_constraints.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.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.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v21 = val1.header
        _x = _v21.seq
        buff.write(_get_struct_I().pack(_x))
        _v22 = _v21.stamp
        _x = _v22
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v21.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(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.Struct('<I%ss'%length).pack(length, _x))
        _v23 = val1.target_point_offset
        _x = _v23
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v24 = val1.constraint_region
        length = len(_v24.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v24.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.dimensions))
        length = len(_v24.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v24.primitive_poses:
          _v25 = val3.position
          _x = _v25
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v26 = val3.orientation
          _x = _v26
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v24.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v24.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(_get_struct_3I().pack(*val4.vertex_indices))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v24.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v24.mesh_poses:
          _v27 = val3.position
          _x = _v27
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v28 = val3.orientation
          _x = _v28
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v29 = val1.header
        _x = _v29.seq
        buff.write(_get_struct_I().pack(_x))
        _v30 = _v29.stamp
        _x = _v30
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v29.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v31 = val1.orientation
        _x = _v31
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _x = val1.target_radius
        buff.write(_get_struct_d().pack(_x))
        _v32 = val1.target_pose
        _v33 = _v32.header
        _x = _v33.seq
        buff.write(_get_struct_I().pack(_x))
        _v34 = _v33.stamp
        _x = _v34
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v33.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v35 = _v32.pose
        _v36 = _v35.position
        _x = _v36
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v37 = _v35.orientation
        _x = _v37
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.cone_sides
        buff.write(_get_struct_i().pack(_x))
        _v38 = val1.sensor_pose
        _v39 = _v38.header
        _x = _v39.seq
        buff.write(_get_struct_I().pack(_x))
        _v40 = _v39.stamp
        _x = _v40
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v39.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v41 = _v38.pose
        _v42 = _v41.position
        _x = _v42
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v43 = _v41.orientation
        _x = _v43
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_get_struct_2dBd().pack(_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight))
      _x = self.action_goal.goal.planner_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.action_goal.goal.allowed_planning_time
      buff.write(_get_struct_d().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.position))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.velocity))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms:
        _v44 = val1.translation
        _x = _v44
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v45 = val1.rotation
        _x = _v45
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist:
        _v46 = val1.linear
        _x = _v46
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v47 = val1.angular
        _x = _v47
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench:
        _v48 = val1.force
        _x = _v48
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v49 = val1.torque
        _x = _v49
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v50 = val1.object
        _v51 = _v50.header
        _x = _v51.seq
        buff.write(_get_struct_I().pack(_x))
        _v52 = _v51.stamp
        _x = _v52
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v51.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v50.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v53 = _v50.type
        _x = _v53.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v53.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v50.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.dimensions))
        length = len(_v50.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.primitive_poses:
          _v54 = val3.position
          _x = _v54
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v55 = val3.orientation
          _x = _v55
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v50.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(_get_struct_3I().pack(*val4.vertex_indices))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v50.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.mesh_poses:
          _v56 = val3.position
          _x = _v56
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v57 = val3.orientation
          _x = _v57
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v50.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.planes:
          buff.write(_get_struct_4d().pack(*val3.coef))
        length = len(_v50.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v50.plane_poses:
          _v58 = val3.position
          _x = _v58
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v59 = val3.orientation
          _x = _v59
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v50.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v60 = val1.detach_posture
        _v61 = _v60.header
        _x = _v61.seq
        buff.write(_get_struct_I().pack(_x))
        _v62 = _v61.stamp
        _x = _v62
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v61.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v60.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v60.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v60.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v60.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v63 = val3.time_from_start
          _x = _v63
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms:
        _v64 = val1.header
        _x = _v64.seq
        buff.write(_get_struct_I().pack(_x))
        _v65 = _v64.stamp
        _x = _v65
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v64.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v66 = val1.transform
        _v67 = _v66.translation
        _x = _v67
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v68 = _v66.rotation
        _x = _v68
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(struct.Struct(pattern).pack(*val1.enabled))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(struct.Struct(pattern).pack(*self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.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.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.padding
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.link_scale)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.link_scale:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.scale
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.object_colors)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.object_colors:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v69 = val1.color
        _x = _v69
        buff.write(_get_struct_4f().pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects:
        _v70 = val1.header
        _x = _v70.seq
        buff.write(_get_struct_I().pack(_x))
        _v71 = _v70.stamp
        _x = _v71
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v70.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v72 = val1.type
        _x = _v72.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v72.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(val1.primitives)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitives:
          _x = val2.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val2.dimensions))
        length = len(val1.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitive_poses:
          _v73 = val2.position
          _x = _v73
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v74 = val2.orientation
          _x = _v74
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.meshes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.meshes:
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          for val3 in val2.triangles:
            buff.write(_get_struct_3I().pack(*val3.vertex_indices))
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(val1.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.mesh_poses:
          _v75 = val2.position
          _x = _v75
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v76 = val2.orientation
          _x = _v76
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.planes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.planes:
          buff.write(_get_struct_4d().pack(*val2.coef))
        length = len(val1.plane_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.plane_poses:
          _v77 = val2.position
          _x = _v77
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v78 = val2.orientation
          _x = _v78
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.operation
        buff.write(_get_struct_b().pack(_x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.resolution
      buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sb'%length
      buff.write(struct.Struct(pattern).pack(*self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data))
      _x = self
      buff.write(_get_struct_3BidBid3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.is_diff, _x.action_goal.goal.planning_options.plan_only, _x.action_goal.goal.planning_options.look_around, _x.action_goal.goal.planning_options.look_around_attempts, _x.action_goal.goal.planning_options.max_safe_execution_cost, _x.action_goal.goal.planning_options.replan, _x.action_goal.goal.planning_options.replan_attempts, _x.action_goal.goal.planning_options.replan_delay, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_result.status.status
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_result.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_i3I().pack(_x.action_result.result.error_code.val, _x.action_result.result.trajectory_start.joint_state.header.seq, _x.action_result.result.trajectory_start.joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.joint_state.header.stamp.nsecs))
      _x = self.action_result.result.trajectory_start.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.trajectory_start.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.trajectory_start.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_result.result.trajectory_start.joint_state.position))
      length = len(self.action_result.result.trajectory_start.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_result.result.trajectory_start.joint_state.velocity))
      length = len(self.action_result.result.trajectory_start.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.Struct(pattern).pack(*self.action_result.result.trajectory_start.joint_state.effort))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.trajectory_start.multi_dof_joint_state.header.seq, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.transforms:
        _v79 = val1.translation
        _x = _v79
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v80 = val1.rotation
        _x = _v80
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.twist:
        _v81 = val1.linear
        _x = _v81
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v82 = val1.angular
        _x = _v82
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.wrench:
        _v83 = val1.force
        _x = _v83
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v84 = val1.torque
        _x = _v84
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_result.result.trajectory_start.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v85 = val1.object
        _v86 = _v85.header
        _x = _v86.seq
        buff.write(_get_struct_I().pack(_x))
        _v87 = _v86.stamp
        _x = _v87
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v86.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v85.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v88 = _v85.type
        _x = _v88.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v88.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v85.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.dimensions))
        length = len(_v85.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.primitive_poses:
          _v89 = val3.position
          _x = _v89
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v90 = val3.orientation
          _x = _v90
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v85.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(_get_struct_3I().pack(*val4.vertex_indices))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v85.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.mesh_poses:
          _v91 = val3.position
          _x = _v91
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v92 = val3.orientation
          _x = _v92
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v85.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.planes:
          buff.write(_get_struct_4d().pack(*val3.coef))
        length = len(_v85.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v85.plane_poses:
          _v93 = val3.position
          _x = _v93
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v94 = val3.orientation
          _x = _v94
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v85.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v95 = val1.detach_posture
        _v96 = _v95.header
        _x = _v96.seq
        buff.write(_get_struct_I().pack(_x))
        _v97 = _v96.stamp
        _x = _v97
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v96.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v95.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v95.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v95.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v95.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v98 = val3.time_from_start
          _x = _v98
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.action_result.result.trajectory_start.is_diff
      buff.write(_get_struct_B().pack(_x))
      length = len(self.action_result.result.trajectory_stages)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_stages:
        _v99 = val1.joint_trajectory
        _v100 = _v99.header
        _x = _v100.seq
        buff.write(_get_struct_I().pack(_x))
        _v101 = _v100.stamp
        _x = _v101
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v100.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v99.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v99.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v99.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v99.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.positions))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.velocities))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.accelerations))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.Struct(pattern).pack(*val3.effort))
          _v102 = val3.time_from_start
          _x = _v102
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v103 = val1.multi_dof_joint_trajectory
        _v104 = _v103.header
        _x = _v104.seq
        buff.write(_get_struct_I().pack(_x))
        _v105 = _v104.stamp
        _x = _v105
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v104.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v103.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v103.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v103.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v103.points:
          length = len(val3.transforms)
          buff.write(_struct_I.pack(length))
          for val4 in val3.transforms:
            _v106 = val4.translation
            _x = _v106
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v107 = val4.rotation
            _x = _v107
            buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          for val4 in val3.velocities:
            _v108 = val4.linear
            _x = _v108
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v109 = val4.angular
            _x = _v109
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          for val4 in val3.accelerations:
            _v110 = val4.linear
            _x = _v110
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v111 = val4.angular
            _x = _v111
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v112 = val3.time_from_start
          _x = _v112
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
      length = len(self.action_result.result.trajectory_descriptions)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_descriptions:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.action_result.result.place_location.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.place_location.post_place_posture.header.seq, _x.action_result.result.place_location.post_place_posture.header.stamp.secs, _x.action_result.result.place_location.post_place_posture.header.stamp.nsecs))
      _x = self.action_result.result.place_location.post_place_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.place_location.post_place_posture.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.post_place_posture.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.place_location.post_place_posture.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.post_place_posture.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.Struct(pattern).pack(*val1.positions))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.Struct(pattern).pack(*val1.velocities))
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.Struct(pattern).pack(*val1.accelerations))
        length = len(val1.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.Struct(pattern).pack(*val1.effort))
        _v113 = val1.time_from_start
        _x = _v113
        buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.place_location.place_pose.header.seq, _x.action_result.result.place_location.place_pose.header.stamp.secs, _x.action_result.result.place_location.place_pose.header.stamp.nsecs))
      _x = self.action_result.result.place_location.place_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.action_result.result.place_location.place_pose.pose.position.x, _x.action_result.result.place_location.place_pose.pose.position.y, _x.action_result.result.place_location.place_pose.pose.position.z, _x.action_result.result.place_location.place_pose.pose.orientation.x, _x.action_result.result.place_location.place_pose.pose.orientation.y, _x.action_result.result.place_location.place_pose.pose.orientation.z, _x.action_result.result.place_location.place_pose.pose.orientation.w, _x.action_result.result.place_location.pre_place_approach.direction.header.seq, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.secs, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.nsecs))
      _x = self.action_result.result.place_location.pre_place_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.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3d2f3I().pack(_x.action_result.result.place_location.pre_place_approach.direction.vector.x, _x.action_result.result.place_location.pre_place_approach.direction.vector.y, _x.action_result.result.place_location.pre_place_approach.direction.vector.z, _x.action_result.result.place_location.pre_place_approach.desired_distance, _x.action_result.result.place_location.pre_place_approach.min_distance, _x.action_result.result.place_location.post_place_retreat.direction.header.seq, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.secs, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.nsecs))
      _x = self.action_result.result.place_location.post_place_retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3d2f().pack(_x.action_result.result.place_location.post_place_retreat.direction.vector.x, _x.action_result.result.place_location.post_place_retreat.direction.vector.y, _x.action_result.result.place_location.post_place_retreat.direction.vector.z, _x.action_result.result.place_location.post_place_retreat.desired_distance, _x.action_result.result.place_location.post_place_retreat.min_distance))
      length = len(self.action_result.result.place_location.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self
      buff.write(_get_struct_d3I().pack(_x.action_result.result.planning_time, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_feedback.status.status
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_feedback.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_feedback.feedback.state
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    codecs.lookup_error("rosmsg").msg_type = self._type
    try:
      if self.action_goal is None:
        self.action_goal = moveit_msgs.msg.PlaceActionGoal()
      if self.action_result is None:
        self.action_result = moveit_msgs.msg.PlaceActionResult()
      if self.action_feedback is None:
        self.action_feedback = moveit_msgs.msg.PlaceActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.group_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.group_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.attached_object_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.attached_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.place_locations = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PlaceLocation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v114 = val1.post_place_posture
        _v115 = _v114.header
        start = end
        end += 4
        (_v115.seq,) = _get_struct_I().unpack(str[start:end])
        _v116 = _v115.stamp
        _x = _v116
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v115.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v115.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v114.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v114.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v114.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v117 = val3.time_from_start
          _x = _v117
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v114.points.append(val3)
        _v118 = val1.place_pose
        _v119 = _v118.header
        start = end
        end += 4
        (_v119.seq,) = _get_struct_I().unpack(str[start:end])
        _v120 = _v119.stamp
        _x = _v120
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v119.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v119.frame_id = str[start:end]
        _v121 = _v118.pose
        _v122 = _v121.position
        _x = _v122
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v123 = _v121.orientation
        _x = _v123
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _v124 = val1.pre_place_approach
        _v125 = _v124.direction
        _v126 = _v125.header
        start = end
        end += 4
        (_v126.seq,) = _get_struct_I().unpack(str[start:end])
        _v127 = _v126.stamp
        _x = _v127
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v126.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v126.frame_id = str[start:end]
        _v128 = _v125.vector
        _x = _v128
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v124
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v129 = val1.post_place_retreat
        _v130 = _v129.direction
        _v131 = _v130.header
        start = end
        end += 4
        (_v131.seq,) = _get_struct_I().unpack(str[start:end])
        _v132 = _v131.stamp
        _x = _v132
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v131.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v131.frame_id = str[start:end]
        _v133 = _v130.vector
        _x = _v133
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v129
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_goal.goal.place_locations.append(val1)
      start = end
      end += 1
      (self.action_goal.goal.place_eef,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.place_eef = bool(self.action_goal.goal.place_eef)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.support_surface_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.support_surface_name = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.allow_gripper_support_collision,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.path_constraints.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.path_constraints.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = moveit_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', 'rosmsg')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PositionConstraint()
        _v134 = val1.header
        start = end
        end += 4
        (_v134.seq,) = _get_struct_I().unpack(str[start:end])
        _v135 = _v134.stamp
        _x = _v135
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v134.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v134.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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v136 = val1.target_point_offset
        _x = _v136
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v137 = val1.constraint_region
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v137.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = s.unpack(str[start:end])
          _v137.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v137.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v138 = val3.position
          _x = _v138
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v139 = val3.orientation
          _x = _v139
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v137.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v137.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v137.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v137.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v140 = val3.position
          _x = _v140
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v141 = val3.orientation
          _x = _v141
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v137.mesh_poses.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.OrientationConstraint()
        _v142 = val1.header
        start = end
        end += 4
        (_v142.seq,) = _get_struct_I().unpack(str[start:end])
        _v143 = _v142.stamp
        _x = _v143
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v142.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v142.frame_id = str[start:end]
        _v144 = val1.orientation
        _x = _v144
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.VisibilityConstraint()
        start = end
        end += 8
        (val1.target_radius,) = _get_struct_d().unpack(str[start:end])
        _v145 = val1.target_pose
        _v146 = _v145.header
        start = end
        end += 4
        (_v146.seq,) = _get_struct_I().unpack(str[start:end])
        _v147 = _v146.stamp
        _x = _v147
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v146.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v146.frame_id = str[start:end]
        _v148 = _v145.pose
        _v149 = _v148.position
        _x = _v149
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v150 = _v148.orientation
        _x = _v150
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (val1.cone_sides,) = _get_struct_i().unpack(str[start:end])
        _v151 = val1.sensor_pose
        _v152 = _v151.header
        start = end
        end += 4
        (_v152.seq,) = _get_struct_I().unpack(str[start:end])
        _v153 = _v152.stamp
        _x = _v153
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v152.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v152.frame_id = str[start:end]
        _v154 = _v151.pose
        _v155 = _v154.position
        _x = _v155
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v156 = _v154.orientation
        _x = _v156
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _x = val1
        start = end
        end += 25
        (_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight,) = _get_struct_2dBd().unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planner_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planner_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.allowed_touch_objects.append(val1)
      start = end
      end += 8
      (self.action_goal.goal.allowed_planning_time,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.position = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.velocity = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort = s.unpack(str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v157 = val1.translation
        _x = _v157
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v158 = val1.rotation
        _x = _v158
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v159 = val1.linear
        _x = _v159
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v160 = val1.angular
        _x = _v160
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v161 = val1.force
        _x = _v161
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v162 = val1.torque
        _x = _v162
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v163 = val1.object
        _v164 = _v163.header
        start = end
        end += 4
        (_v164.seq,) = _get_struct_I().unpack(str[start:end])
        _v165 = _v164.stamp
        _x = _v165
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v164.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v164.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v163.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v163.id = str[start:end]
        _v166 = _v163.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v166.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v166.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v166.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v166.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = s.unpack(str[start:end])
          _v163.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v167 = val3.position
          _x = _v167
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v168 = val3.orientation
          _x = _v168
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v163.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v163.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v169 = val3.position
          _x = _v169
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v170 = val3.orientation
          _x = _v170
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v163.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = _get_struct_4d().unpack(str[start:end])
          _v163.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v163.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v171 = val3.position
          _x = _v171
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v172 = val3.orientation
          _x = _v172
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v163.plane_poses.append(val3)
        start = end
        end += 1
        (_v163.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v173 = val1.detach_posture
        _v174 = _v173.header
        start = end
        end += 4
        (_v174.seq,) = _get_struct_I().unpack(str[start:end])
        _v175 = _v174.stamp
        _x = _v175
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v174.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v174.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v173.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v173.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v173.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v176 = val3.time_from_start
          _x = _v176
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v173.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff = bool(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v177 = val1.header
        start = end
        end += 4
        (_v177.seq,) = _get_struct_I().unpack(str[start:end])
        _v178 = _v177.stamp
        _x = _v178
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v177.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v177.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.child_frame_id = str[start:end]
        _v179 = val1.transform
        _v180 = _v179.translation
        _x = _v180
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v181 = _v179.rotation
        _x = _v181
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.enabled = s.unpack(str[start:end])
        val1.enabled = list(map(bool, val1.enabled))
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = s.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = list(map(bool, self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = moveit_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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.link_scale = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkScale()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.scale,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.link_scale.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.object_colors = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.ObjectColor()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v182 = val1.color
        _x = _v182
        start = end
        end += 16
        (_x.r, _x.g, _x.b, _x.a,) = _get_struct_4f().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.object_colors.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.CollisionObject()
        _v183 = val1.header
        start = end
        end += 4
        (_v183.seq,) = _get_struct_I().unpack(str[start:end])
        _v184 = _v183.stamp
        _x = _v184
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v183.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v183.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v185 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v185.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v185.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v185.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v185.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitives = []
        for i in range(0, length):
          val2 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val2.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val2.dimensions = s.unpack(str[start:end])
          val1.primitives.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitive_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v186 = val2.position
          _x = _v186
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v187 = val2.orientation
          _x = _v187
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.primitive_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.meshes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.triangles = []
          for i in range(0, length):
            val3 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val3.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val2.triangles.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val2.vertices.append(val3)
          val1.meshes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.mesh_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v188 = val2.position
          _x = _v188
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v189 = val2.orientation
          _x = _v189
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.mesh_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.planes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val2.coef = _get_struct_4d().unpack(str[start:end])
          val1.planes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.plane_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v190 = val2.position
          _x = _v190
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v191 = val2.orientation
          _x = _v191
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.plane_poses.append(val2)
        start = end
        end += 1
        (val1.operation,) = _get_struct_b().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary = bool(self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end]
      start = end
      end += 8
      (self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.resolution,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sb'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data = s.unpack(str[start:end])
      _x = self
      start = end
      end += 40
      (_x.action_goal.goal.planning_options.planning_scene_diff.is_diff, _x.action_goal.goal.planning_options.plan_only, _x.action_goal.goal.planning_options.look_around, _x.action_goal.goal.planning_options.look_around_attempts, _x.action_goal.goal.planning_options.max_safe_execution_cost, _x.action_goal.goal.planning_options.replan, _x.action_goal.goal.planning_options.replan_attempts, _x.action_goal.goal.planning_options.replan_delay, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _get_struct_3BidBid3I().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.is_diff = bool(self.action_goal.goal.planning_options.planning_scene_diff.is_diff)
      self.action_goal.goal.planning_options.plan_only = bool(self.action_goal.goal.planning_options.plan_only)
      self.action_goal.goal.planning_options.look_around = bool(self.action_goal.goal.planning_options.look_around)
      self.action_goal.goal.planning_options.replan = bool(self.action_goal.goal.planning_options.replan)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _get_struct_B().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 16
      (_x.action_result.result.error_code.val, _x.action_result.result.trajectory_start.joint_state.header.seq, _x.action_result.result.trajectory_start.joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.joint_state.header.stamp.nsecs,) = _get_struct_i3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.trajectory_start.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.trajectory_start.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.joint_state.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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_start.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.position = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.velocity = s.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.effort = s.unpack(str[start:end])
      _x = self
      start = end
      end += 12
      (_x.action_result.result.trajectory_start.multi_dof_joint_state.header.seq, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v192 = val1.translation
        _x = _v192
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v193 = val1.rotation
        _x = _v193
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v194 = val1.linear
        _x = _v194
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v195 = val1.angular
        _x = _v195
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v196 = val1.force
        _x = _v196
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v197 = val1.torque
        _x = _v197
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v198 = val1.object
        _v199 = _v198.header
        start = end
        end += 4
        (_v199.seq,) = _get_struct_I().unpack(str[start:end])
        _v200 = _v199.stamp
        _x = _v200
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v199.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v199.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v198.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v198.id = str[start:end]
        _v201 = _v198.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v201.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v201.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v201.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v201.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = s.unpack(str[start:end])
          _v198.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v202 = val3.position
          _x = _v202
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v203 = val3.orientation
          _x = _v203
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v198.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = _get_struct_3I().unpack(str[start:end])
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v198.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v204 = val3.position
          _x = _v204
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v205 = val3.orientation
          _x = _v205
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v198.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = _get_struct_4d().unpack(str[start:end])
          _v198.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v198.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v206 = val3.position
          _x = _v206
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v207 = val3.orientation
          _x = _v207
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v198.plane_poses.append(val3)
        start = end
        end += 1
        (_v198.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v208 = val1.detach_posture
        _v209 = _v208.header
        start = end
        end += 4
        (_v209.seq,) = _get_struct_I().unpack(str[start:end])
        _v210 = _v209.stamp
        _x = _v210
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v209.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v209.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v208.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v208.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v208.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v211 = val3.time_from_start
          _x = _v211
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v208.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_result.result.trajectory_start.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.action_result.result.trajectory_start.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.action_result.result.trajectory_start.is_diff = bool(self.action_result.result.trajectory_start.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_stages = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.RobotTrajectory()
        _v212 = val1.joint_trajectory
        _v213 = _v212.header
        start = end
        end += 4
        (_v213.seq,) = _get_struct_I().unpack(str[start:end])
        _v214 = _v213.stamp
        _x = _v214
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_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', 'rosmsg')
        else:
          _v213.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v212.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v212.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v212.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = s.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = s.unpack(str[start:end])
          _v215 = val3.time_from_start
          _x = _v215
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v212.points.append(val3)
        _v216 = val1.multi_dof_joint_trajectory
        _v217 = _v216.header
        start = end
        end += 4
        (_v217.seq,) = _get_struct_I().unpack(str[start:end])
        _v218 = _v217.stamp
        _x = _v218
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v217.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v217.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v216.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v216.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v216.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.MultiDOFJointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.transforms = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Transform()
            _v219 = val4.translation
            _x = _v219
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v220 = val4.rotation
            _x = _v220
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
            val3.transforms.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.velocities = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Twist()
            _v221 = val4.linear
            _x = _v221
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v222 = val4.angular
            _x = _v222
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.velocities.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.accelerations = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Twist()
            _v223 = val4.linear
            _x = _v223
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v224 = val4.angular
            _x = _v224
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.accelerations.append(val4)
          _v225 = val3.time_from_start
          _x = _v225
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v216.points.append(val3)
        self.action_result.result.trajectory_stages.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_descriptions = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_descriptions.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.place_location.post_place_posture.header.seq, _x.action_result.result.place_location.post_place_posture.header.stamp.secs, _x.action_result.result.place_location.post_place_posture.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.post_place_posture.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.post_place_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.post_place_posture.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.place_location.post_place_posture.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.post_place_posture.points = []
      for i in range(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.positions = s.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.velocities = s.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.accelerations = s.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.effort = s.unpack(str[start:end])
        _v226 = val1.time_from_start
        _x = _v226
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
        self.action_result.result.place_location.post_place_posture.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.place_location.place_pose.header.seq, _x.action_result.result.place_location.place_pose.header.stamp.secs, _x.action_result.result.place_location.place_pose.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.place_pose.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_result.result.place_location.place_pose.pose.position.x, _x.action_result.result.place_location.place_pose.pose.position.y, _x.action_result.result.place_location.place_pose.pose.position.z, _x.action_result.result.place_location.place_pose.pose.orientation.x, _x.action_result.result.place_location.place_pose.pose.orientation.y, _x.action_result.result.place_location.place_pose.pose.orientation.z, _x.action_result.result.place_location.place_pose.pose.orientation.w, _x.action_result.result.place_location.pre_place_approach.direction.header.seq, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.secs, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.pre_place_approach.direction.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.pre_place_approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_result.result.place_location.pre_place_approach.direction.vector.x, _x.action_result.result.place_location.pre_place_approach.direction.vector.y, _x.action_result.result.place_location.pre_place_approach.direction.vector.z, _x.action_result.result.place_location.pre_place_approach.desired_distance, _x.action_result.result.place_location.pre_place_approach.min_distance, _x.action_result.result.place_location.post_place_retreat.direction.header.seq, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.secs, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.nsecs,) = _get_struct_3d2f3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.post_place_retreat.direction.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.post_place_retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_result.result.place_location.post_place_retreat.direction.vector.x, _x.action_result.result.place_location.post_place_retreat.direction.vector.y, _x.action_result.result.place_location.post_place_retreat.direction.vector.z, _x.action_result.result.place_location.post_place_retreat.desired_distance, _x.action_result.result.place_location.post_place_retreat.min_distance,) = _get_struct_3d2f().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.place_location.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 20
      (_x.action_result.result.planning_time, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _get_struct_d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _get_struct_B().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.status.text = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.feedback.state = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.feedback.state = str[start:end]
      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(_get_struct_3I().pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.group_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.attached_object_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.place_locations)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.place_locations:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v227 = val1.post_place_posture
        _v228 = _v227.header
        _x = _v228.seq
        buff.write(_get_struct_I().pack(_x))
        _v229 = _v228.stamp
        _x = _v229
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v228.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v227.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v227.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v227.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v227.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v230 = val3.time_from_start
          _x = _v230
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v231 = val1.place_pose
        _v232 = _v231.header
        _x = _v232.seq
        buff.write(_get_struct_I().pack(_x))
        _v233 = _v232.stamp
        _x = _v233
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v232.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v234 = _v231.pose
        _v235 = _v234.position
        _x = _v235
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v236 = _v234.orientation
        _x = _v236
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _v237 = val1.pre_place_approach
        _v238 = _v237.direction
        _v239 = _v238.header
        _x = _v239.seq
        buff.write(_get_struct_I().pack(_x))
        _v240 = _v239.stamp
        _x = _v240
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v239.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v241 = _v238.vector
        _x = _v241
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v237
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        _v242 = val1.post_place_retreat
        _v243 = _v242.direction
        _v244 = _v243.header
        _x = _v244.seq
        buff.write(_get_struct_I().pack(_x))
        _v245 = _v244.stamp
        _x = _v245
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v244.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v246 = _v243.vector
        _x = _v246
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _x = _v242
        buff.write(_get_struct_2f().pack(_x.desired_distance, _x.min_distance))
        length = len(val1.allowed_touch_objects)
        buff.write(_struct_I.pack(length))
        for val2 in val1.allowed_touch_objects:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
      _x = self.action_goal.goal.place_eef
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.support_surface_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.allow_gripper_support_collision
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.path_constraints.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.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.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.action_goal.goal.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.position_constraints:
        _v247 = val1.header
        _x = _v247.seq
        buff.write(_get_struct_I().pack(_x))
        _v248 = _v247.stamp
        _x = _v248
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v247.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(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.Struct('<I%ss'%length).pack(length, _x))
        _v249 = val1.target_point_offset
        _x = _v249
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v250 = val1.constraint_region
        length = len(_v250.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v250.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
        length = len(_v250.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v250.primitive_poses:
          _v251 = val3.position
          _x = _v251
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v252 = val3.orientation
          _x = _v252
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v250.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v250.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(val4.vertex_indices.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v250.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v250.mesh_poses:
          _v253 = val3.position
          _x = _v253
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v254 = val3.orientation
          _x = _v254
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.orientation_constraints:
        _v255 = val1.header
        _x = _v255.seq
        buff.write(_get_struct_I().pack(_x))
        _v256 = _v255.stamp
        _x = _v256
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v255.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v257 = val1.orientation
        _x = _v257
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1
        buff.write(_get_struct_4d().pack(_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight))
      length = len(self.action_goal.goal.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.path_constraints.visibility_constraints:
        _x = val1.target_radius
        buff.write(_get_struct_d().pack(_x))
        _v258 = val1.target_pose
        _v259 = _v258.header
        _x = _v259.seq
        buff.write(_get_struct_I().pack(_x))
        _v260 = _v259.stamp
        _x = _v260
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v259.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v261 = _v258.pose
        _v262 = _v261.position
        _x = _v262
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v263 = _v261.orientation
        _x = _v263
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.cone_sides
        buff.write(_get_struct_i().pack(_x))
        _v264 = val1.sensor_pose
        _v265 = _v264.header
        _x = _v265.seq
        buff.write(_get_struct_I().pack(_x))
        _v266 = _v265.stamp
        _x = _v266
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v265.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v267 = _v264.pose
        _v268 = _v267.position
        _x = _v268
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v269 = _v267.orientation
        _x = _v269
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_get_struct_2dBd().pack(_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight))
      _x = self.action_goal.goal.planner_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.action_goal.goal.allowed_planning_time
      buff.write(_get_struct_d().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.position.tostring())
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.velocity.tostring())
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms:
        _v270 = val1.translation
        _x = _v270
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v271 = val1.rotation
        _x = _v271
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist:
        _v272 = val1.linear
        _x = _v272
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v273 = val1.angular
        _x = _v273
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench:
        _v274 = val1.force
        _x = _v274
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v275 = val1.torque
        _x = _v275
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v276 = val1.object
        _v277 = _v276.header
        _x = _v277.seq
        buff.write(_get_struct_I().pack(_x))
        _v278 = _v277.stamp
        _x = _v278
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v277.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v276.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v279 = _v276.type
        _x = _v279.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v279.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v276.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
        length = len(_v276.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.primitive_poses:
          _v280 = val3.position
          _x = _v280
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v281 = val3.orientation
          _x = _v281
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v276.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(val4.vertex_indices.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v276.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.mesh_poses:
          _v282 = val3.position
          _x = _v282
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v283 = val3.orientation
          _x = _v283
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v276.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.planes:
          buff.write(val3.coef.tostring())
        length = len(_v276.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v276.plane_poses:
          _v284 = val3.position
          _x = _v284
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v285 = val3.orientation
          _x = _v285
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v276.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v286 = val1.detach_posture
        _v287 = _v286.header
        _x = _v287.seq
        buff.write(_get_struct_I().pack(_x))
        _v288 = _v287.stamp
        _x = _v288
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v287.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v286.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v286.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v286.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v286.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v289 = val3.time_from_start
          _x = _v289
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms:
        _v290 = val1.header
        _x = _v290.seq
        buff.write(_get_struct_I().pack(_x))
        _v291 = _v290.stamp
        _x = _v291
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v290.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v292 = val1.transform
        _v293 = _v292.translation
        _x = _v293
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v294 = _v292.rotation
        _x = _v294
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(val1.enabled.tostring())
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values.tostring())
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.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.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.padding
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.link_scale)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.link_scale:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.scale
        buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.object_colors)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.object_colors:
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v295 = val1.color
        _x = _v295
        buff.write(_get_struct_4f().pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects:
        _v296 = val1.header
        _x = _v296.seq
        buff.write(_get_struct_I().pack(_x))
        _v297 = _v296.stamp
        _x = _v297
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v296.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v298 = val1.type
        _x = _v298.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v298.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(val1.primitives)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitives:
          _x = val2.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.dimensions.tostring())
        length = len(val1.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.primitive_poses:
          _v299 = val2.position
          _x = _v299
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v300 = val2.orientation
          _x = _v300
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.meshes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.meshes:
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          for val3 in val2.triangles:
            buff.write(val3.vertex_indices.tostring())
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(val1.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.mesh_poses:
          _v301 = val2.position
          _x = _v301
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v302 = val2.orientation
          _x = _v302
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.planes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.planes:
          buff.write(val2.coef.tostring())
        length = len(val1.plane_poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.plane_poses:
          _v303 = val2.position
          _x = _v303
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v304 = val2.orientation
          _x = _v304
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1.operation
        buff.write(_get_struct_b().pack(_x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.resolution
      buff.write(_get_struct_d().pack(_x))
      length = len(self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sb'%length
      buff.write(self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data.tostring())
      _x = self
      buff.write(_get_struct_3BidBid3I().pack(_x.action_goal.goal.planning_options.planning_scene_diff.is_diff, _x.action_goal.goal.planning_options.plan_only, _x.action_goal.goal.planning_options.look_around, _x.action_goal.goal.planning_options.look_around_attempts, _x.action_goal.goal.planning_options.max_safe_execution_cost, _x.action_goal.goal.planning_options.replan, _x.action_goal.goal.planning_options.replan_attempts, _x.action_goal.goal.planning_options.replan_delay, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_result.status.status
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_result.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_i3I().pack(_x.action_result.result.error_code.val, _x.action_result.result.trajectory_start.joint_state.header.seq, _x.action_result.result.trajectory_start.joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.joint_state.header.stamp.nsecs))
      _x = self.action_result.result.trajectory_start.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.trajectory_start.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.trajectory_start.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.trajectory_start.joint_state.position.tostring())
      length = len(self.action_result.result.trajectory_start.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.trajectory_start.joint_state.velocity.tostring())
      length = len(self.action_result.result.trajectory_start.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.action_result.result.trajectory_start.joint_state.effort.tostring())
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.trajectory_start.multi_dof_joint_state.header.seq, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.nsecs))
      _x = self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.transforms:
        _v305 = val1.translation
        _x = _v305
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v306 = val1.rotation
        _x = _v306
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.twist:
        _v307 = val1.linear
        _x = _v307
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v308 = val1.angular
        _x = _v308
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_result.result.trajectory_start.multi_dof_joint_state.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.multi_dof_joint_state.wrench:
        _v309 = val1.force
        _x = _v309
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v310 = val1.torque
        _x = _v310
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.action_result.result.trajectory_start.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_start.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v311 = val1.object
        _v312 = _v311.header
        _x = _v312.seq
        buff.write(_get_struct_I().pack(_x))
        _v313 = _v312.stamp
        _x = _v313
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v312.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v311.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _v314 = _v311.type
        _x = _v314.key
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        _x = _v314.db
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v311.primitives)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.primitives:
          _x = val3.type
          buff.write(_get_struct_B().pack(_x))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
        length = len(_v311.primitive_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.primitive_poses:
          _v315 = val3.position
          _x = _v315
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v316 = val3.orientation
          _x = _v316
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v311.meshes)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.meshes:
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          for val4 in val3.triangles:
            buff.write(val4.vertex_indices.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        length = len(_v311.mesh_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.mesh_poses:
          _v317 = val3.position
          _x = _v317
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v318 = val3.orientation
          _x = _v318
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        length = len(_v311.planes)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.planes:
          buff.write(val3.coef.tostring())
        length = len(_v311.plane_poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v311.plane_poses:
          _v319 = val3.position
          _x = _v319
          buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v320 = val3.orientation
          _x = _v320
          buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
        _x = _v311.operation
        buff.write(_get_struct_b().pack(_x))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val2))
        _v321 = val1.detach_posture
        _v322 = _v321.header
        _x = _v322.seq
        buff.write(_get_struct_I().pack(_x))
        _v323 = _v322.stamp
        _x = _v323
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v322.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v321.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v321.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v321.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v321.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v324 = val3.time_from_start
          _x = _v324
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _x = val1.weight
        buff.write(_get_struct_d().pack(_x))
      _x = self.action_result.result.trajectory_start.is_diff
      buff.write(_get_struct_B().pack(_x))
      length = len(self.action_result.result.trajectory_stages)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_stages:
        _v325 = val1.joint_trajectory
        _v326 = _v325.header
        _x = _v326.seq
        buff.write(_get_struct_I().pack(_x))
        _v327 = _v326.stamp
        _x = _v327
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v326.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v325.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v325.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v325.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v325.points:
          length = len(val3.positions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.positions.tostring())
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocities.tostring())
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.accelerations.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
          _v328 = val3.time_from_start
          _x = _v328
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
        _v329 = val1.multi_dof_joint_trajectory
        _v330 = _v329.header
        _x = _v330.seq
        buff.write(_get_struct_I().pack(_x))
        _v331 = _v330.stamp
        _x = _v331
        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
        _x = _v330.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
        length = len(_v329.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v329.joint_names:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.Struct('<I%ss'%length).pack(length, val3))
        length = len(_v329.points)
        buff.write(_struct_I.pack(length))
        for val3 in _v329.points:
          length = len(val3.transforms)
          buff.write(_struct_I.pack(length))
          for val4 in val3.transforms:
            _v332 = val4.translation
            _x = _v332
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v333 = val4.rotation
            _x = _v333
            buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
          length = len(val3.velocities)
          buff.write(_struct_I.pack(length))
          for val4 in val3.velocities:
            _v334 = val4.linear
            _x = _v334
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v335 = val4.angular
            _x = _v335
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          length = len(val3.accelerations)
          buff.write(_struct_I.pack(length))
          for val4 in val3.accelerations:
            _v336 = val4.linear
            _x = _v336
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
            _v337 = val4.angular
            _x = _v337
            buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
          _v338 = val3.time_from_start
          _x = _v338
          buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
      length = len(self.action_result.result.trajectory_descriptions)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.trajectory_descriptions:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self.action_result.result.place_location.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.place_location.post_place_posture.header.seq, _x.action_result.result.place_location.post_place_posture.header.stamp.secs, _x.action_result.result.place_location.post_place_posture.header.stamp.nsecs))
      _x = self.action_result.result.place_location.post_place_posture.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      length = len(self.action_result.result.place_location.post_place_posture.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.post_place_posture.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      length = len(self.action_result.result.place_location.post_place_posture.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.post_place_posture.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.accelerations.tostring())
        length = len(val1.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.effort.tostring())
        _v339 = val1.time_from_start
        _x = _v339
        buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_get_struct_3I().pack(_x.action_result.result.place_location.place_pose.header.seq, _x.action_result.result.place_location.place_pose.header.stamp.secs, _x.action_result.result.place_location.place_pose.header.stamp.nsecs))
      _x = self.action_result.result.place_location.place_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_7d3I().pack(_x.action_result.result.place_location.place_pose.pose.position.x, _x.action_result.result.place_location.place_pose.pose.position.y, _x.action_result.result.place_location.place_pose.pose.position.z, _x.action_result.result.place_location.place_pose.pose.orientation.x, _x.action_result.result.place_location.place_pose.pose.orientation.y, _x.action_result.result.place_location.place_pose.pose.orientation.z, _x.action_result.result.place_location.place_pose.pose.orientation.w, _x.action_result.result.place_location.pre_place_approach.direction.header.seq, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.secs, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.nsecs))
      _x = self.action_result.result.place_location.pre_place_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.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3d2f3I().pack(_x.action_result.result.place_location.pre_place_approach.direction.vector.x, _x.action_result.result.place_location.pre_place_approach.direction.vector.y, _x.action_result.result.place_location.pre_place_approach.direction.vector.z, _x.action_result.result.place_location.pre_place_approach.desired_distance, _x.action_result.result.place_location.pre_place_approach.min_distance, _x.action_result.result.place_location.post_place_retreat.direction.header.seq, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.secs, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.nsecs))
      _x = self.action_result.result.place_location.post_place_retreat.direction.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_3d2f().pack(_x.action_result.result.place_location.post_place_retreat.direction.vector.x, _x.action_result.result.place_location.post_place_retreat.direction.vector.y, _x.action_result.result.place_location.post_place_retreat.direction.vector.z, _x.action_result.result.place_location.post_place_retreat.desired_distance, _x.action_result.result.place_location.post_place_retreat.min_distance))
      length = len(self.action_result.result.place_location.allowed_touch_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.place_location.allowed_touch_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
      _x = self
      buff.write(_get_struct_d3I().pack(_x.action_result.result.planning_time, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self
      buff.write(_get_struct_2I().pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_feedback.status.status
      buff.write(_get_struct_B().pack(_x))
      _x = self.action_feedback.status.text
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
      _x = self.action_feedback.feedback.state
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  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
    """
    codecs.lookup_error("rosmsg").msg_type = self._type
    try:
      if self.action_goal is None:
        self.action_goal = moveit_msgs.msg.PlaceActionGoal()
      if self.action_result is None:
        self.action_result = moveit_msgs.msg.PlaceActionResult()
      if self.action_feedback is None:
        self.action_feedback = moveit_msgs.msg.PlaceActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.group_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.group_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.attached_object_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.attached_object_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.place_locations = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PlaceLocation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v340 = val1.post_place_posture
        _v341 = _v340.header
        start = end
        end += 4
        (_v341.seq,) = _get_struct_I().unpack(str[start:end])
        _v342 = _v341.stamp
        _x = _v342
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v341.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v341.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v340.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v340.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v340.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v343 = val3.time_from_start
          _x = _v343
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v340.points.append(val3)
        _v344 = val1.place_pose
        _v345 = _v344.header
        start = end
        end += 4
        (_v345.seq,) = _get_struct_I().unpack(str[start:end])
        _v346 = _v345.stamp
        _x = _v346
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v345.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v345.frame_id = str[start:end]
        _v347 = _v344.pose
        _v348 = _v347.position
        _x = _v348
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v349 = _v347.orientation
        _x = _v349
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _v350 = val1.pre_place_approach
        _v351 = _v350.direction
        _v352 = _v351.header
        start = end
        end += 4
        (_v352.seq,) = _get_struct_I().unpack(str[start:end])
        _v353 = _v352.stamp
        _x = _v353
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v352.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v352.frame_id = str[start:end]
        _v354 = _v351.vector
        _x = _v354
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v350
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        _v355 = val1.post_place_retreat
        _v356 = _v355.direction
        _v357 = _v356.header
        start = end
        end += 4
        (_v357.seq,) = _get_struct_I().unpack(str[start:end])
        _v358 = _v357.stamp
        _x = _v358
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v357.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v357.frame_id = str[start:end]
        _v359 = _v356.vector
        _x = _v359
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _x = _v355
        start = end
        end += 8
        (_x.desired_distance, _x.min_distance,) = _get_struct_2f().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.allowed_touch_objects = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.allowed_touch_objects.append(val2)
        self.action_goal.goal.place_locations.append(val1)
      start = end
      end += 1
      (self.action_goal.goal.place_eef,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.place_eef = bool(self.action_goal.goal.place_eef)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.support_surface_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.support_surface_name = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.allow_gripper_support_collision,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.allow_gripper_support_collision = bool(self.action_goal.goal.allow_gripper_support_collision)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.path_constraints.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.path_constraints.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.joint_constraints = []
      for i in range(0, length):
        val1 = moveit_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', 'rosmsg')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.position_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.PositionConstraint()
        _v360 = val1.header
        start = end
        end += 4
        (_v360.seq,) = _get_struct_I().unpack(str[start:end])
        _v361 = _v360.stamp
        _x = _v361
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v360.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v360.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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v362 = val1.target_point_offset
        _x = _v362
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v363 = val1.constraint_region
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v363.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v363.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v363.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v364 = val3.position
          _x = _v364
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v365 = val3.orientation
          _x = _v365
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v363.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v363.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v363.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v363.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v366 = val3.position
          _x = _v366
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v367 = val3.orientation
          _x = _v367
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v363.mesh_poses.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.orientation_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.OrientationConstraint()
        _v368 = val1.header
        start = end
        end += 4
        (_v368.seq,) = _get_struct_I().unpack(str[start:end])
        _v369 = _v368.stamp
        _x = _v369
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v368.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v368.frame_id = str[start:end]
        _v370 = val1.orientation
        _x = _v370
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.absolute_x_axis_tolerance, _x.absolute_y_axis_tolerance, _x.absolute_z_axis_tolerance, _x.weight,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.path_constraints.visibility_constraints = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.VisibilityConstraint()
        start = end
        end += 8
        (val1.target_radius,) = _get_struct_d().unpack(str[start:end])
        _v371 = val1.target_pose
        _v372 = _v371.header
        start = end
        end += 4
        (_v372.seq,) = _get_struct_I().unpack(str[start:end])
        _v373 = _v372.stamp
        _x = _v373
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v372.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v372.frame_id = str[start:end]
        _v374 = _v371.pose
        _v375 = _v374.position
        _x = _v375
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v376 = _v374.orientation
        _x = _v376
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        start = end
        end += 4
        (val1.cone_sides,) = _get_struct_i().unpack(str[start:end])
        _v377 = val1.sensor_pose
        _v378 = _v377.header
        start = end
        end += 4
        (_v378.seq,) = _get_struct_I().unpack(str[start:end])
        _v379 = _v378.stamp
        _x = _v379
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v378.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v378.frame_id = str[start:end]
        _v380 = _v377.pose
        _v381 = _v380.position
        _x = _v381
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v382 = _v380.orientation
        _x = _v382
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        _x = val1
        start = end
        end += 25
        (_x.max_view_angle, _x.max_range_angle, _x.sensor_view_direction, _x.weight,) = _get_struct_2dBd().unpack(str[start:end])
        self.action_goal.goal.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planner_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planner_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.allowed_touch_objects.append(val1)
      start = end
      end += 8
      (self.action_goal.goal.allowed_planning_time,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.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
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.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
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v383 = val1.translation
        _x = _v383
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v384 = val1.rotation
        _x = _v384
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v385 = val1.linear
        _x = _v385
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v386 = val1.angular
        _x = _v386
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v387 = val1.force
        _x = _v387
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v388 = val1.torque
        _x = _v388
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v389 = val1.object
        _v390 = _v389.header
        start = end
        end += 4
        (_v390.seq,) = _get_struct_I().unpack(str[start:end])
        _v391 = _v390.stamp
        _x = _v391
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v390.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v390.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v389.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v389.id = str[start:end]
        _v392 = _v389.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v392.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v392.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v392.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v392.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v389.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v393 = val3.position
          _x = _v393
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v394 = val3.orientation
          _x = _v394
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v389.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v389.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v395 = val3.position
          _x = _v395
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v396 = val3.orientation
          _x = _v396
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v389.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
          _v389.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v389.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v397 = val3.position
          _x = _v397
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v398 = val3.orientation
          _x = _v398
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v389.plane_poses.append(val3)
        start = end
        end += 1
        (_v389.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v399 = val1.detach_posture
        _v400 = _v399.header
        start = end
        end += 4
        (_v400.seq,) = _get_struct_I().unpack(str[start:end])
        _v401 = _v400.stamp
        _x = _v401
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v400.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v400.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v399.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v399.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v399.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v402 = val3.time_from_start
          _x = _v402
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v399.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.robot_state.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff = bool(self.action_goal.goal.planning_options.planning_scene_diff.robot_state.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.robot_model_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v403 = val1.header
        start = end
        end += 4
        (_v403.seq,) = _get_struct_I().unpack(str[start:end])
        _v404 = _v403.stamp
        _x = _v404
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v403.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v403.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.child_frame_id = str[start:end]
        _v405 = val1.transform
        _v406 = _v405.translation
        _x = _v406
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v407 = _v405.rotation
        _x = _v407
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
        val1.enabled = list(map(bool, val1.enabled))
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.entry_values.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
      self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values = list(map(bool, self.action_goal.goal.planning_options.planning_scene_diff.allowed_collision_matrix.default_entry_values))
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = moveit_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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.link_scale = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.LinkScale()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.scale,) = _get_struct_d().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.link_scale.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.object_colors = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.ObjectColor()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v408 = val1.color
        _x = _v408
        start = end
        end += 16
        (_x.r, _x.g, _x.b, _x.a,) = _get_struct_4f().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.object_colors.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.CollisionObject()
        _v409 = val1.header
        start = end
        end += 4
        (_v409.seq,) = _get_struct_I().unpack(str[start:end])
        _v410 = _v409.stamp
        _x = _v410
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v409.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v409.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1.id = str[start:end]
        _v411 = val1.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v411.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v411.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v411.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v411.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitives = []
        for i in range(0, length):
          val2 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val2.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val2.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          val1.primitives.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.primitive_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v412 = val2.position
          _x = _v412
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v413 = val2.orientation
          _x = _v413
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.primitive_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.meshes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.triangles = []
          for i in range(0, length):
            val3 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val3.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val2.triangles.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val2.vertices.append(val3)
          val1.meshes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.mesh_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v414 = val2.position
          _x = _v414
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v415 = val2.orientation
          _x = _v415
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.mesh_poses.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.planes = []
        for i in range(0, length):
          val2 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val2.coef = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
          val1.planes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.plane_poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v416 = val2.position
          _x = _v416
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v417 = val2.orientation
          _x = _v417
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          val1.plane_poses.append(val2)
        start = end
        end += 1
        (val1.operation,) = _get_struct_b().unpack(str[start:end])
        self.action_goal.goal.planning_options.planning_scene_diff.world.collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.position.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.x, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.y, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.z, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.origin.orientation.w, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.seq, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.secs, _x.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.header.frame_id = str[start:end]
      start = end
      end += 1
      (self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary,) = _get_struct_B().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary = bool(self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.binary)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.id = str[start:end]
      start = end
      end += 8
      (self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.resolution,) = _get_struct_d().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sb'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_goal.goal.planning_options.planning_scene_diff.world.octomap.octomap.data = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=length)
      _x = self
      start = end
      end += 40
      (_x.action_goal.goal.planning_options.planning_scene_diff.is_diff, _x.action_goal.goal.planning_options.plan_only, _x.action_goal.goal.planning_options.look_around, _x.action_goal.goal.planning_options.look_around_attempts, _x.action_goal.goal.planning_options.max_safe_execution_cost, _x.action_goal.goal.planning_options.replan, _x.action_goal.goal.planning_options.replan_attempts, _x.action_goal.goal.planning_options.replan_delay, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _get_struct_3BidBid3I().unpack(str[start:end])
      self.action_goal.goal.planning_options.planning_scene_diff.is_diff = bool(self.action_goal.goal.planning_options.planning_scene_diff.is_diff)
      self.action_goal.goal.planning_options.plan_only = bool(self.action_goal.goal.planning_options.plan_only)
      self.action_goal.goal.planning_options.look_around = bool(self.action_goal.goal.planning_options.look_around)
      self.action_goal.goal.planning_options.replan = bool(self.action_goal.goal.planning_options.replan)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _get_struct_B().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.status.text = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 16
      (_x.action_result.result.error_code.val, _x.action_result.result.trajectory_start.joint_state.header.seq, _x.action_result.result.trajectory_start.joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.joint_state.header.stamp.nsecs,) = _get_struct_i3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.trajectory_start.joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.trajectory_start.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.joint_state.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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_start.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.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
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.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
      s = struct.Struct(pattern)
      end += s.size
      self.action_result.result.trajectory_start.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.trajectory_start.multi_dof_joint_state.header.seq, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.secs, _x.action_result.result.trajectory_start.multi_dof_joint_state.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.trajectory_start.multi_dof_joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_start.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v418 = val1.translation
        _x = _v418
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v419 = val1.rotation
        _x = _v419
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v420 = val1.linear
        _x = _v420
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v421 = val1.angular
        _x = _v421
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.multi_dof_joint_state.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v422 = val1.force
        _x = _v422
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v423 = val1.torque
        _x = _v423
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.action_result.result.trajectory_start.multi_dof_joint_state.wrench.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_start.attached_collision_objects = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.AttachedCollisionObject()
        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', 'rosmsg')
        else:
          val1.link_name = str[start:end]
        _v424 = val1.object
        _v425 = _v424.header
        start = end
        end += 4
        (_v425.seq,) = _get_struct_I().unpack(str[start:end])
        _v426 = _v425.stamp
        _x = _v426
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v425.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v425.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v424.id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v424.id = str[start:end]
        _v427 = _v424.type
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v427.key = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v427.key = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v427.db = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v427.db = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.primitives = []
        for i in range(0, length):
          val3 = shape_msgs.msg.SolidPrimitive()
          start = end
          end += 1
          (val3.type,) = _get_struct_B().unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v424.primitives.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.primitive_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v428 = val3.position
          _x = _v428
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v429 = val3.orientation
          _x = _v429
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v424.primitive_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.meshes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Mesh()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.triangles = []
          for i in range(0, length):
            val4 = shape_msgs.msg.MeshTriangle()
            start = end
            end += 12
            val4.vertex_indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
            val3.triangles.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.vertices.append(val4)
          _v424.meshes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.mesh_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v430 = val3.position
          _x = _v430
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v431 = val3.orientation
          _x = _v431
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v424.mesh_poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.planes = []
        for i in range(0, length):
          val3 = shape_msgs.msg.Plane()
          start = end
          end += 32
          val3.coef = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
          _v424.planes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v424.plane_poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v432 = val3.position
          _x = _v432
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
          _v433 = val3.orientation
          _x = _v433
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
          _v424.plane_poses.append(val3)
        start = end
        end += 1
        (_v424.operation,) = _get_struct_b().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        _v434 = val1.detach_posture
        _v435 = _v434.header
        start = end
        end += 4
        (_v435.seq,) = _get_struct_I().unpack(str[start:end])
        _v436 = _v435.stamp
        _x = _v436
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v435.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v435.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v434.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v434.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v434.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v437 = val3.time_from_start
          _x = _v437
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v434.points.append(val3)
        start = end
        end += 8
        (val1.weight,) = _get_struct_d().unpack(str[start:end])
        self.action_result.result.trajectory_start.attached_collision_objects.append(val1)
      start = end
      end += 1
      (self.action_result.result.trajectory_start.is_diff,) = _get_struct_B().unpack(str[start:end])
      self.action_result.result.trajectory_start.is_diff = bool(self.action_result.result.trajectory_start.is_diff)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_stages = []
      for i in range(0, length):
        val1 = moveit_msgs.msg.RobotTrajectory()
        _v438 = val1.joint_trajectory
        _v439 = _v438.header
        start = end
        end += 4
        (_v439.seq,) = _get_struct_I().unpack(str[start:end])
        _v440 = _v439.stamp
        _x = _v440
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v439.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v439.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v438.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v438.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v438.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.JointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          s = struct.Struct(pattern)
          end += s.size
          val3.positions = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.velocities = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.accelerations = 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
          s = struct.Struct(pattern)
          end += s.size
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v441 = val3.time_from_start
          _x = _v441
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v438.points.append(val3)
        _v442 = val1.multi_dof_joint_trajectory
        _v443 = _v442.header
        start = end
        end += 4
        (_v443.seq,) = _get_struct_I().unpack(str[start:end])
        _v444 = _v443.stamp
        _x = _v444
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v443.frame_id = str[start:end].decode('utf-8', 'rosmsg')
        else:
          _v443.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v442.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8', 'rosmsg')
          else:
            val3 = str[start:end]
          _v442.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v442.points = []
        for i in range(0, length):
          val3 = trajectory_msgs.msg.MultiDOFJointTrajectoryPoint()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.transforms = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Transform()
            _v445 = val4.translation
            _x = _v445
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v446 = val4.rotation
            _x = _v446
            start = end
            end += 32
            (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
            val3.transforms.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.velocities = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Twist()
            _v447 = val4.linear
            _x = _v447
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v448 = val4.angular
            _x = _v448
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.velocities.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.accelerations = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Twist()
            _v449 = val4.linear
            _x = _v449
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            _v450 = val4.angular
            _x = _v450
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
            val3.accelerations.append(val4)
          _v451 = val3.time_from_start
          _x = _v451
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
          _v442.points.append(val3)
        self.action_result.result.trajectory_stages.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.trajectory_descriptions = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.trajectory_descriptions.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.place_location.post_place_posture.header.seq, _x.action_result.result.place_location.post_place_posture.header.stamp.secs, _x.action_result.result.place_location.post_place_posture.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.post_place_posture.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.post_place_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.post_place_posture.joint_names = []
      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', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.place_location.post_place_posture.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.post_place_posture.points = []
      for i in range(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        s = struct.Struct(pattern)
        end += s.size
        val1.positions = 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
        s = struct.Struct(pattern)
        end += s.size
        val1.velocities = 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
        s = struct.Struct(pattern)
        end += s.size
        val1.accelerations = 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
        s = struct.Struct(pattern)
        end += s.size
        val1.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v452 = val1.time_from_start
        _x = _v452
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
        self.action_result.result.place_location.post_place_posture.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_result.result.place_location.place_pose.header.seq, _x.action_result.result.place_location.place_pose.header.stamp.secs, _x.action_result.result.place_location.place_pose.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.place_pose.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.action_result.result.place_location.place_pose.pose.position.x, _x.action_result.result.place_location.place_pose.pose.position.y, _x.action_result.result.place_location.place_pose.pose.position.z, _x.action_result.result.place_location.place_pose.pose.orientation.x, _x.action_result.result.place_location.place_pose.pose.orientation.y, _x.action_result.result.place_location.place_pose.pose.orientation.z, _x.action_result.result.place_location.place_pose.pose.orientation.w, _x.action_result.result.place_location.pre_place_approach.direction.header.seq, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.secs, _x.action_result.result.place_location.pre_place_approach.direction.header.stamp.nsecs,) = _get_struct_7d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.pre_place_approach.direction.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.pre_place_approach.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 44
      (_x.action_result.result.place_location.pre_place_approach.direction.vector.x, _x.action_result.result.place_location.pre_place_approach.direction.vector.y, _x.action_result.result.place_location.pre_place_approach.direction.vector.z, _x.action_result.result.place_location.pre_place_approach.desired_distance, _x.action_result.result.place_location.pre_place_approach.min_distance, _x.action_result.result.place_location.post_place_retreat.direction.header.seq, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.secs, _x.action_result.result.place_location.post_place_retreat.direction.header.stamp.nsecs,) = _get_struct_3d2f3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_result.result.place_location.post_place_retreat.direction.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_result.result.place_location.post_place_retreat.direction.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 32
      (_x.action_result.result.place_location.post_place_retreat.direction.vector.x, _x.action_result.result.place_location.post_place_retreat.direction.vector.y, _x.action_result.result.place_location.post_place_retreat.direction.vector.z, _x.action_result.result.place_location.post_place_retreat.desired_distance, _x.action_result.result.place_location.post_place_retreat.min_distance,) = _get_struct_3d2f().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.place_location.allowed_touch_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8', 'rosmsg')
        else:
          val1 = str[start:end]
        self.action_result.result.place_location.allowed_touch_objects.append(val1)
      _x = self
      start = end
      end += 20
      (_x.action_result.result.planning_time, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _get_struct_d3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _get_struct_B().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.status.text = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.status.text = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.action_feedback.feedback.state = str[start:end].decode('utf-8', 'rosmsg')
      else:
        self.action_feedback.feedback.state = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e)  # most likely buffer underfill

_struct_I = genpy.struct_I
def _get_struct_I():
    global _struct_I
    return _struct_I
_struct_2I = None
def _get_struct_2I():
    global _struct_2I
    if _struct_2I is None:
        _struct_2I = struct.Struct("<2I")
    return _struct_2I
_struct_2dBd = None
def _get_struct_2dBd():
    global _struct_2dBd
    if _struct_2dBd is None:
        _struct_2dBd = struct.Struct("<2dBd")
    return _struct_2dBd
_struct_2f = None
def _get_struct_2f():
    global _struct_2f
    if _struct_2f is None:
        _struct_2f = struct.Struct("<2f")
    return _struct_2f
_struct_2i = None
def _get_struct_2i():
    global _struct_2i
    if _struct_2i is None:
        _struct_2i = struct.Struct("<2i")
    return _struct_2i
_struct_3BidBid3I = None
def _get_struct_3BidBid3I():
    global _struct_3BidBid3I
    if _struct_3BidBid3I is None:
        _struct_3BidBid3I = struct.Struct("<3BidBid3I")
    return _struct_3BidBid3I
_struct_3I = None
def _get_struct_3I():
    global _struct_3I
    if _struct_3I is None:
        _struct_3I = struct.Struct("<3I")
    return _struct_3I
_struct_3d = None
def _get_struct_3d():
    global _struct_3d
    if _struct_3d is None:
        _struct_3d = struct.Struct("<3d")
    return _struct_3d
_struct_3d2f = None
def _get_struct_3d2f():
    global _struct_3d2f
    if _struct_3d2f is None:
        _struct_3d2f = struct.Struct("<3d2f")
    return _struct_3d2f
_struct_3d2f3I = None
def _get_struct_3d2f3I():
    global _struct_3d2f3I
    if _struct_3d2f3I is None:
        _struct_3d2f3I = struct.Struct("<3d2f3I")
    return _struct_3d2f3I
_struct_4d = None
def _get_struct_4d():
    global _struct_4d
    if _struct_4d is None:
        _struct_4d = struct.Struct("<4d")
    return _struct_4d
_struct_4f = None
def _get_struct_4f():
    global _struct_4f
    if _struct_4f is None:
        _struct_4f = struct.Struct("<4f")
    return _struct_4f
_struct_7d3I = None
def _get_struct_7d3I():
    global _struct_7d3I
    if _struct_7d3I is None:
        _struct_7d3I = struct.Struct("<7d3I")
    return _struct_7d3I
_struct_B = None
def _get_struct_B():
    global _struct_B
    if _struct_B is None:
        _struct_B = struct.Struct("<B")
    return _struct_B
_struct_b = None
def _get_struct_b():
    global _struct_b
    if _struct_b is None:
        _struct_b = struct.Struct("<b")
    return _struct_b
_struct_d = None
def _get_struct_d():
    global _struct_d
    if _struct_d is None:
        _struct_d = struct.Struct("<d")
    return _struct_d
_struct_d3I = None
def _get_struct_d3I():
    global _struct_d3I
    if _struct_d3I is None:
        _struct_d3I = struct.Struct("<d3I")
    return _struct_d3I
_struct_i = None
def _get_struct_i():
    global _struct_i
    if _struct_i is None:
        _struct_i = struct.Struct("<i")
    return _struct_i
_struct_i3I = None
def _get_struct_i3I():
    global _struct_i3I
    if _struct_i3I is None:
        _struct_i3I = struct.Struct("<i3I")
    return _struct_i3I
