text: # This Python file uses the following encoding: utf-8
  """autogenerated by genpy from intera_core_msgs/JointCommand.msg. Do not edit."""
  import sys
  python3 = True if sys.hexversion > 0x03000000 else False
  import genpy
  import struct
  
  import std_msgs.msg
  
  class JointCommand(genpy.Message):
    _md5sum = "c8c85922d297da6209a089a906207e5d"
    _type = "intera_core_msgs/JointCommand"
    _has_header = True #flag to mark the presence of a Header object
    _full_text = """Header header
  
  int32 mode             # Mode in which to command arm
  
  string[]  names        # Joint names order for command
  
  # Fields of commands indexed according to the Joint names vector.
  # Command fields required for a desired mode are listed in the comments
  float64[] position     # (radians)       Required for POSITION_MODE and TRAJECTORY_MODE
  float64[] velocity     # (radians/sec)   Required for VELOCITY_MODE and TRAJECTORY_MODE
  float64[] acceleration # (radians/sec^2) Required for                   TRAJECTORY_MODE
  float64[] effort       # (newton-meters) Required for TORQUE_MODE
  
  # Modes available to command arm
  int32 POSITION_MODE=1
  int32 VELOCITY_MODE=2
  int32 TORQUE_MODE=3
  int32 TRAJECTORY_MODE=4
  
  ================================================================================
  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
  # 0: no frame
  # 1: global frame
  string frame_id
  """
    # Pseudo-constants
    POSITION_MODE = 1
    VELOCITY_MODE = 2
    TORQUE_MODE = 3
    TRAJECTORY_MODE = 4
  
    __slots__ = ['header','mode','names','position','velocity','acceleration','effort']
    _slot_types = ['std_msgs/Header','int32','string[]','float64[]','float64[]','float64[]','float64[]']
  
    def __init__(self, *args, **kwds):
      """
      Constructor. Any message fields that are implicitly/explicitly
      set to None will be assigned a default value. The recommend
      use is keyword arguments as this is more robust to future message
      changes.  You cannot mix in-order arguments and keyword arguments.
  
      The available fields are:
         header,mode,names,position,velocity,acceleration,effort
  
      :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(JointCommand, self).__init__(*args, **kwds)
        #message fields cannot be None, assign default values for those that are
        if self.header is None:
          self.header = std_msgs.msg.Header()
        if self.mode is None:
          self.mode = 0
        if self.names is None:
          self.names = []
        if self.position is None:
          self.position = []
        if self.velocity is None:
          self.velocity = []
        if self.acceleration is None:
          self.acceleration = []
        if self.effort is None:
          self.effort = []
      else:
        self.header = std_msgs.msg.Header()
        self.mode = 0
        self.names = []
        self.position = []
        self.velocity = []
        self.acceleration = []
        self.effort = []
  
    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.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
        _x = self.header.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_get_struct_i().pack(self.mode))
        length = len(self.names)
        buff.write(_struct_I.pack(length))
        for val1 in self.names:
          length = len(val1)
          if python3 or type(val1) == unicode:
            val1 = val1.encode('utf-8')
            length = len(val1)
          buff.write(struct.pack('<I%ss'%length, length, val1))
        length = len(self.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *self.position))
        length = len(self.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *self.velocity))
        length = len(self.acceleration)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *self.acceleration))
        length = len(self.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *self.effort))
      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``
      """
      try:
        if self.header is None:
          self.header = std_msgs.msg.Header()
        end = 0
        _x = self
        start = end
        end += 12
        (_x.header.seq, _x.header.stamp.secs, _x.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.header.frame_id = str[start:end].decode('utf-8')
        else:
          self.header.frame_id = str[start:end]
        start = end
        end += 4
        (self.mode,) = _get_struct_i().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        self.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')
          else:
            val1 = str[start:end]
          self.names.append(val1)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.acceleration = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.effort = struct.unpack(pattern, 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.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
        _x = self.header.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_get_struct_i().pack(self.mode))
        length = len(self.names)
        buff.write(_struct_I.pack(length))
        for val1 in self.names:
          length = len(val1)
          if python3 or type(val1) == unicode:
            val1 = val1.encode('utf-8')
            length = len(val1)
          buff.write(struct.pack('<I%ss'%length, length, val1))
        length = len(self.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(self.position.tostring())
        length = len(self.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(self.velocity.tostring())
        length = len(self.acceleration)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(self.acceleration.tostring())
        length = len(self.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(self.effort.tostring())
      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
      """
      try:
        if self.header is None:
          self.header = std_msgs.msg.Header()
        end = 0
        _x = self
        start = end
        end += 12
        (_x.header.seq, _x.header.stamp.secs, _x.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.header.frame_id = str[start:end].decode('utf-8')
        else:
          self.header.frame_id = str[start:end]
        start = end
        end += 4
        (self.mode,) = _get_struct_i().unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        self.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')
          else:
            val1 = str[start:end]
          self.names.append(val1)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.acceleration = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        self.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        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_i = None
  def _get_struct_i():
      global _struct_i
      if _struct_i is None:
          _struct_i = struct.Struct("<i")
      return _struct_i
  _struct_3I = None
  def _get_struct_3I():
      global _struct_3I
      if _struct_3I is None:
          _struct_3I = struct.Struct("<3I")
      return _struct_3I
  