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_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