#NEWLINE# def getPlanPoses( constraints , ikPlanner ) : #NEWLINE# #INDENT# '\n    Given a list of constraints, returns a dictionary of poses containing all\n    the poses that are references by the constraints by name\n    ' #NEWLINE# poses = sorted ( [ c . postureName for c in constraints if hasattr ( c , 'postureName' ) ] ) #NEWLINE# poses = { poseName : list ( ikPlanner . jointController . getPose ( poseName ) ) for poseName in poses } #NEWLINE# return poseName