def get_object_poses(self, object_ids):
"""
Get the poses from the objects identified by the given object ids list.
"""
ser_ops = self._psi.get_object_poses(object_ids)
ops = dict()
for key in ser_ops:
msg = Pose()
conversions.msg_from_string(msg, ser_ops[key])
ops[key] = msg
return ops
def get_attached_objects(self, object_ids=[]):
"""
Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.
"""
ser_aobjs = self._psi.get_attached_objects(object_ids)
aobjs = dict()
for key in ser_aobjs:
msg = AttachedCollisionObject()
conversions.msg_from_string(msg, ser_aobjs[key])
aobjs[key] = msg
return aobjs
def get_attached_objects(self, object_ids = []):
"""
Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.
"""
ser_aobjs = self._psi.get_attached_objects(object_ids)
aobjs = dict()
for key in ser_aobjs:
msg = AttachedCollisionObject()
conversions.msg_from_string(msg, ser_aobjs[key])
aobjs[key] = msg
return aobjs
def get_object_poses(self, object_ids):
"""
Get the poses from the objects identified by the given object ids list.
"""
ser_ops = self._psi.get_object_poses(object_ids)
ops = dict()
for key in ser_ops:
msg = Pose()
conversions.msg_from_string(msg, ser_ops[key])
ops[key] = msg
return ops
def get_robot_markers(self, *args):
"""Get a MarkerArray of the markers that make up this robot
Usage:
(): get's all markers for current state
state (RobotState): gets markers for a particular state
values (dict): get markers with given values
values, links (dict, list): get markers with given values and these links
group (string): get all markers for a group
group, values (string, dict): get all markers for a group with desired values
"""
mrkr = MarkerArray()
if not args:
conversions.msg_from_string(mrkr, self._r.get_robot_markers())
else:
if isinstance(args[0], RobotState):
msg_str = conversions.msg_to_string(args[0])
conversions.msg_from_string(mrkr, self._r.get_robot_markers(msg_str))
elif isinstance(args[0], dict):
conversions.msg_from_string(mrkr, self._r.get_robot_markers(*args))
elif isinstance(args[0], str):
conversions.msg_from_string(mrkr, self._r.get_group_markers(*args))
else:
raise MoveItCommanderException("Unexpected type")
return mrkr
def get_interface_description(self):
""" Get the description of the planner interface (list of planner ids) """
desc = PlannerInterfaceDescription()
conversions.msg_from_string(desc, self._g.get_interface_description())
return desc
def get_trajectory_constraints(self):
""" Get the actual trajectory constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_trajectory_constraints()
conversions.msg_from_string(c, c_str)
return c
def get_path_constraints(self):
""" Get the acutal path constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_path_constraints()
conversions.msg_from_string(c, c_str)
return c
def get_path_constraints(self):
""" Get the acutal path constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_path_constraints()
conversions.msg_from_string(c,c_str)
return c
