Should get_current_state_bounded be available in MoveGroupCommander, and why is it bounded?

[felixvd]

I wanted to use get_current_state in Python and came across this. Can someone do a quick sanity check?

This function getCurrentStateBoundedPython was introduced in the wrapper 4 years ago, but isn't used in move_group.py(link). I think this is an oversight.

Also, why is it bounded? Since there is no equivalent in the C++ MoveGroupInterface, I am a little confused.

If there's no objections I would submit a PR to connect this function in move_group.py, and maybe make it get_current_state instead of get_current_state_bounded, when I get around to it.

[felixvd]

I tried to implement this, but when I call py_bindings_tools::serializeMsg, for some reason receive a string instead of a moveit_msgs.msg.RobotState object. Anyone have an idea what the problem might be? The very small changes are here.

Traceback (most recent call last):
  File "/home/panda/catkin_ws/src/osx_cgm_experiments/scripts/test_cgm_trajectory.py", line 158, in <module>
    velocity_scaling_factor=0.05, acceleration_scaling_factor=0.05)
  File "/home/panda/catkin_ws/src/moveit/moveit_commander/src/moveit_commander/move_group.py", line 602, in retime_trajectory
    ser_ref_state_in = conversions.msg_to_string(ref_state_in)
  File "/home/panda/catkin_ws/src/moveit/moveit_commander/src/moveit_commander/conversions.

I get that error when I try to call the retime_trajectory function, for which the get_current_state seems to be a prerequisite:

[...]
(success, trajectory, planning_time, error_code) = move_group.plan(goal_robot_state.joint_state)
robot_state = move_group.get_current_state()
trajectory = move_group.retime_trajectory(robot_state, trajectory, velocity_scaling_factor=0.05, acceleration_scaling_factor=0.05)

[PeterMitrano]

I actually found this because I want to use get_current_state_bounded, and saw it wasn't fully implemented. Did you ever finish this?

[rhaschke]

The Python API by far isn't complete. If you are missing something, please file a corresponding PR.