[Misc] added docstring, removed an unnecessary print, replaced functi…

…on call.

src/pycram/designators/actions/actions.py

@@ -553,7 +553,7 @@ def perform(self) -> None:
         orientation = list(transformations.quaternion_from_euler(0, 0, angle, axes="sxyz"))
 
         # create new robot pose
-        new_robot_pose = Pose(robot_position.to_list()[0], orientation)
+        new_robot_pose = Pose(robot_position.position_as_list(), orientation)
 
         # turn robot
         NavigateActionPerformable(new_robot_pose).perform()

src/pycram/resolver/probabilistic/probabilistic_action.py

@@ -132,7 +132,6 @@ def create_model(self) -> ProbabilisticCircuit:
         event = outer_event & limiting_event
         # go.Figure(event.plot()).show()
         result, _ = centered_model.conditional(event)
-        print(result)
         return result
 
 
@@ -179,6 +178,11 @@ def default_policy(self) -> ProbabilisticCircuit:
         return GaussianCostmapModel().create_model()
 
     def sample_to_action(self, sample: List) -> MoveAndPickUpPerformable:
+        """
+        Convert a sample from the underlying distribution to a performable action.
+        :param sample: The sample
+        :return: The action
+        """
         arm, grasp, relative_x, relative_y = sample
         position = [relative_x, relative_y, 0.]
         pose = Pose(position, frame=self.object_designator.bullet_world_object.tf_frame)