def value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) \
-> List[Pose]:
ret: List[Pose] = []
ap, action = project.action_point_and_action(action_id)
parameter = action.parameter(parameter_id)
for orientation_id in cls.param_value_list(parameter):
ret.append(
Pose(ap.position,
ap.orientation(orientation_id).orientation))
return ret
def execution_value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) \
-> List[Pose]:
ap, action = project.action_point_and_action(action_id)
if not ap.parent:
return cls.value(type_defs, scene, project, action_id,
parameter_id)
parameter = action.parameter(parameter_id)
ret: List[Pose] = []
copy_of_ap = copy.deepcopy(ap)
tr.make_relative_ap_global(scene, project, copy_of_ap)
for orientation_id in cls.param_value_list(parameter):
ret.append(
Pose(ap.position,
ap.orientation(orientation_id).orientation))
return ret
def value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) -> \
ProjectRobotJoints:
ap, action = project.action_point_and_action(action_id)
param = action.parameter(parameter_id)
joints_id = cls.param_value(param)
robot_id, action_method_name = action.parse_type()
robot_type = scene.object_or_service(robot_id)
if issubclass(type_defs[robot_type.type], RobotService):
for param in action.parameters:
if param.id == "robot_id":
robot_id = json.loads(param.value)
break
else:
raise ParameterPluginException(
f"Parameter {param.id} of action {action.id} depends on"
f" 'robot_id' parameter, which could not be found.")
return ap.joints_for_robot(robot_id, joints_id)
