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)
