def value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) -> Pose: action = project.action(action_id) param = action.parameter(parameter_id) ori_id: str = cls.param_value(param) ap, ori = project.ap_and_orientation(ori_id) return Pose(ap.position, ori.orientation)
def execution_value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) -> Pose: action = project.action(action_id) param = action.parameter(parameter_id) ori_id: str = cls.param_value(param) ap, _ = project.ap_and_orientation(ori_id) copy_of_ap = copy.deepcopy(ap) tr.make_relative_ap_global(scene, project, copy_of_ap) return Pose(copy_of_ap.position, ap.orientation(ori_id).orientation)