@staticmethod
    def getPlanPoses(msgOrList):

        if isinstance(msgOrList, list):
            messages = msgOrList
            allPoseTimes, allPoses = PlanPlayback.getPlanPoses(messages[0])

            for msg in messages[1:]:
                poseTimes, poses = PlanPlayback.getPlanPoses(msg)
                poseTimes += allPoseTimes[-1]
                allPoseTimes = np.hstack((allPoseTimes, poseTimes[1:]))
                allPoses += poses[1:]
            return allPoseTimes, allPoses

        else:
            msg = robotstate.asRobotPlan(msgOrList)

            poses = []
            poseTimes = []
            for plan in msg.plan:
                pose = robotstate.convertStateMessageToDrakePose(plan)
                poseTimes.append(plan.utime / 1e6)
                poses.append(pose)
            return np.array(poseTimes), poses
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/planplayback.py/PlanPlayback.getPlanPoses/original