Wrong argument type when writing quaternion orientation to pose message

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Edit:

I tried to just simply copy the quaternion values and hardcode them as an orientation coordinates. Results are the same, so maybe problem comes from another part of my grasp msg? I dumped the message which I'm trying to use to pick my object: link text

Hi, I'm trying to generate moveit_msgs/Grasp Message using Python API and I'm getting ROSSerializationException in place where calculated quaternion values are assigned into geometry_msgs/Pose Message/orientation.

Piece of code where I'm making Grasp message and trying to get quaternion from euler angles:

p = PickPlaceInterface("arm", "gripper", verbose=True)
g = Grasp()

g.id = "test"
gp = PoseStamped()
gp.header.frame_id = "base_link"
gp.pose.position.x = grasps[0].surface.x
gp.pose.position.y = grasps[0].surface.y
gp.pose.position.z = grasps[0].surface.z

quat = quaternion_from_euler(grasps[0].approach.x, grasps[0].approach.y, grasps[0].approach.z)

print ("Quat type: " + str(type(quat[0])))
print ("Pose orient type: " + str(type(gp.pose.orientation.x)))

gp.pose.orientation.x = float(quat[0]) 
gp.pose.orientation.y = float(quat[1])
gp.pose.orientation.z = float(quat[2])
gp.pose.orientation.w = float(quat[3])
g.grasp_pose = gp

g.pre_grasp_approach.direction.header.frame_id = "base_link"
g.pre_grasp_approach.direction.vector.x = 1.0 
g.pre_grasp_approach.direction.vector.y = 0.0 
g.pre_grasp_approach.direction.vector.z = 0.0 
g.pre_grasp_approach.min_distance = 0.001
g.pre_grasp_approach.desired_distance = 0.1 

g.pre_grasp_posture.header.frame_id = "base_link"
g.pre_grasp_posture.joint_names = ["gripper_axis"]
pos = JointTrajectoryPoint()
pos.positions.append(0.0)
g.pre_grasp_posture.points.append(pos)

g.grasp_posture.header.frame_id = "base_link"
g.grasp_posture.joint_names = ["gripper_axis"]
pos = JointTrajectoryPoint()
pos.positions.append(0.02)
pos.effort.append(0.0)
g.grasp_posture.points.append(pos)

g.allowed_touch_objects = []
g.max_contact_force = 0
g.grasp_quality = grasps[0].score

p.pickup("obj", [g, ], support_name="supp")

grasps[0].approach is a geometry_msgs/Vector3 message.

grasps is a list of GraspConfig.msg which is defined here: link text

I'm getting this exception:

 Traceback (most recent call last):   File "pick_and_place.py", line 83, in <module>
    err = p.pickup("obj", [g, ], support_name="supp")   File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_python/pick_place_interface.py", line 154, in pickup
    self._pick_action.send_goal(g)   File "/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/simple_action_client.py", line 92, in send_goal
    self.gh = self.action_client.send_goal(goal, self._handle_transition, self._handle_feedback)   File "/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/action_client.py", line 553, in send_goal
    return self.manager.init_goal(goal, transition_cb, feedback_cb)   File "/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/action_client.py", line 466, in init_goal
    self.send_goal_fn(action_goal)   File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 886, in publish
    raise ROSSerializationException(str(e)) rospy.exceptions.ROSSerializationException: <class 'struct.error'>: 'required argument is not a float' when writing 'x: 0.008194649141243238 y:
0.1413781390046223 z: 0.44856469150891914 w: 0.8824595101581431'

Looks simple, I'm just messing with types. But when I checked them with:

print ("Quat type: " + str(type(float(quat[0]))))
print ("Pose orient type: " + str(type ...