def parameter_value(
cls, type_defs: TypesDict, scene: CScene, project: CProject, action_id: str, parameter_id: str
) -> Pose:
try:
ap, ori = project.bare_ap_and_orientation(cls.orientation_id(project, action_id, parameter_id))
except Arcor2Exception as e:
raise ParameterPluginException("Failed to get scene/project data.") from e
return Pose(ap.position, ori.orientation)
def parameter_ast(
cls, type_defs: TypesDict, scene: CScene, project: CProject, action_id: str, parameter_id: str
) -> Attribute:
ori_ap, ori = project.bare_ap_and_orientation(cls.orientation_id(project, action_id, parameter_id))
return Attribute(
value=Attribute(
value=Attribute(
value=Name(id="aps", ctx=Load()), attr=ori_ap.name, ctx=Load() # TODO this should not be hardcoded
),
attr="poses", # TODO this should not be hardcoded
ctx=Load(),
),
attr=ori.name,
ctx=Load(),
)
def abs_pose_from_ap_orientation(scene: CScene, project: CProject, orientation_id: str) -> Pose:
"""Returns absolute Pose without modifying anything within the project.
:param orientation_id:
:return:
"""
ap, ori = project.bare_ap_and_orientation(orientation_id)
pose = Pose(ap.position, ori.orientation)
parent_id = ap.parent
while parent_id:
parent = get_parent_pose(scene, project, parent_id)
pose = make_pose_abs(parent.pose, pose)
parent_id = parent.parent_id
return pose