planning_scene_interface.py 文件源码

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