def create_put_down_in_slot_type_constraint(sim, target, slot_types_and_costs):
constraints = []
for (slot_type, cost) in slot_types_and_costs:
if cost is None:
pass
slot_manifest_entry = SlotManifestEntry(target,
PostureSpecVariable.ANYTHING,
slot_type)
slot_manifest = SlotManifest((slot_manifest_entry, ))
posture_state_spec_stand = PostureStateSpec(
STAND_POSTURE_MANIFEST, slot_manifest,
PostureSpecVariable.ANYTHING)
posture_constraint_stand = Constraint(
debug_name='PutDownInSlotTypeConstraint_Stand',
posture_state_spec=posture_state_spec_stand,
cost=cost)
constraints.append(posture_constraint_stand)
posture_state_spec_sit = PostureStateSpec(SIT_POSTURE_MANIFEST,
slot_manifest,
PostureSpecVariable.ANYTHING)
posture_constraint_sit = Constraint(
debug_name='PutDownInSlotTypeConstraint_Sit',
posture_state_spec=posture_state_spec_sit,
cost=cost)
constraints.append(posture_constraint_sit)
if not constraints:
return Nowhere()
final_constraint = create_constraint_set(constraints)
return final_constraint
def get_access_constraint(self, put, inventory_owner):
entries = []
entries.append(PostureManifestEntry(None, MATCH_ANY, MATCH_ANY, MATCH_ANY, MATCH_ANY, MATCH_ANY, inventory_owner))
surface_posture_manifest = PostureManifest(entries)
surface_posture_state_spec = PostureStateSpec(surface_posture_manifest, SlotManifest().intern(), PostureSpecVariable.ANYTHING)
constraint_total = interactions.constraints.Constraint(debug_name='Required Surface For Generic Get Put', posture_state_spec=surface_posture_state_spec)
for constraint_factory in self.constraints:
constraint = constraint_factory.create_constraint(None, target=inventory_owner)
constraint_total = constraint_total.intersect(constraint)
return constraint_total
def _create_drive_posture_constraint(self, posture_type):
posture_manifest = PostureManifest()
entry = PostureManifestEntry(AnimationParticipant.ACTOR,
posture_type.name,
posture_type.family_name, MATCH_ANY,
MATCH_NONE, MATCH_NONE, MATCH_ANY, None)
posture_manifest.add(entry)
posture_manifest = posture_manifest.intern()
posture_state_spec = PostureStateSpec(posture_manifest, SlotManifest(),
PostureSpecVariable.ANYTHING)
return Constraint(posture_state_spec=posture_state_spec,
debug_name='VehiclePostureConstraint')
class GoHereSuperInteraction(TerrainSuperInteraction):
__qualname__ = 'GoHereSuperInteraction'
POSTURE_MANIFEST = PostureManifest(
(PostureManifestEntry(None, 'stand', '', 'FullBody', MATCH_ANY,
MATCH_ANY, MATCH_NONE), )).intern()
POSTURE_STATE_SPEC = PostureStateSpec(POSTURE_MANIFEST,
SlotManifest().intern(), None)
CONSTRAINT = Constraint(debug_name='GoHere',
posture_state_spec=POSTURE_STATE_SPEC,
allow_small_intersections=True)
_ignores_spawn_point_footprints = True
@classmethod
def _test(cls, target, context, **kwargs):
(position, surface) = cls._get_position_and_surface(target, context)
if position is None:
return TestResult(False,
'Cannot go here without a pick or target.')
routing_location = routing.Location(position,
sims4.math.Quaternion.IDENTITY(),
surface)
if not routing.test_connectivity_permissions_for_handle(
routing.connectivity.Handle(routing_location),
context.sim.routing_context):
return TestResult(False, 'Cannot GoHere! Unroutable area.')
return TestResult.TRUE
@classmethod
def potential_interactions(cls, target, context, **kwargs):
(position, surface) = cls._get_position_and_surface(target, context)
if position is not None and context is not None and context.sim is not None:
main_group = context.sim.get_visible_group()
if main_group is not None and not main_group.is_solo:
group_constraint = next(
iter(main_group.get_constraint(context.sim)))
if group_constraint is not None and group_constraint.routing_surface == surface:
while True:
for constraint in group_constraint:
group_geometry = constraint.geometry
while group_geometry is not None and group_geometry.contains_point(
position):
yield AffordanceObjectPair(cls,
target,
cls,
None,
ignore_party=True,
**kwargs)
return
if cls._can_rally(context):
for aop in cls.get_rallyable_aops_gen(target, context, **kwargs):
yield aop
yield cls.generate_aop(target, context, **kwargs)
def create_carry_nothing_constraint(hand, debug_name='CarryNothing'):
entries = []
if hand == Hand.LEFT:
entries = (PostureManifestEntry(None, MATCH_ANY, MATCH_ANY, MATCH_ANY,
MATCH_NONE, MATCH_ANY, MATCH_ANY), )
else:
entries = (PostureManifestEntry(None, MATCH_ANY, MATCH_ANY, MATCH_ANY,
MATCH_ANY, MATCH_NONE, MATCH_ANY), )
carry_posture_manifest = PostureManifest(entries)
carry_posture_state_spec = PostureStateSpec(carry_posture_manifest,
SlotManifest().intern(),
PostureSpecVariable.ANYTHING)
return interactions.constraints.Constraint(
debug_name=debug_name, posture_state_spec=carry_posture_state_spec)
def create_carry_constraint(target,
hand=DEFAULT,
strict=False,
debug_name='CarryGeneric'):
if strict and target is None:
target = MATCH_NONE
entries = []
if hand is DEFAULT or hand == Hand.LEFT:
entries.append(
PostureManifestEntry(None, MATCH_ANY, MATCH_ANY, MATCH_ANY, target,
MATCH_ANY, MATCH_ANY))
if hand is DEFAULT or hand == Hand.RIGHT:
entries.append(
PostureManifestEntry(None, MATCH_ANY, MATCH_ANY, MATCH_ANY,
MATCH_ANY, target, MATCH_ANY))
carry_posture_manifest = PostureManifest(entries)
carry_posture_state_spec = PostureStateSpec(carry_posture_manifest,
SlotManifest().intern(),
PostureSpecVariable.ANYTHING)
return interactions.constraints.Constraint(
debug_name=debug_name, posture_state_spec=carry_posture_state_spec)
def create_put_down_in_slot_type_constraint(sim,
carry_target,
slot_types_and_costs,
target=None):
constraints = []
for (slot_type, cost) in slot_types_and_costs:
if cost is None:
continue
if target is not None and target is not carry_target:
slot_manifest_entry = SlotManifestEntry(
carry_target, PostureSpecVariable.INTERACTION_TARGET,
slot_type)
else:
slot_manifest_entry = SlotManifestEntry(
carry_target, PostureSpecVariable.ANYTHING, slot_type)
slot_manifest = SlotManifest((slot_manifest_entry, ))
posture_state_spec_stand = PostureStateSpec(
STAND_POSTURE_MANIFEST, slot_manifest,
PostureSpecVariable.ANYTHING)
posture_constraint_stand = Constraint(
debug_name='PutDownInSlotTypeConstraint_Stand',
posture_state_spec=posture_state_spec_stand,
cost=cost)
constraints.append(posture_constraint_stand)
posture_state_spec_sit = PostureStateSpec(SIT_POSTURE_MANIFEST,
slot_manifest,
PostureSpecVariable.ANYTHING)
posture_constraint_sit = Constraint(
debug_name='PutDownInSlotTypeConstraint_Sit',
posture_state_spec=posture_state_spec_sit,
cost=cost)
constraints.append(posture_constraint_sit)
if not constraints:
return Nowhere(
'Carry Target has no slot types or costs tuned for put down: {} Sim:{}',
carry_target, sim)
final_constraint = create_constraint_set(constraints)
return final_constraint
from animation.posture_manifest import PostureManifest, PostureManifestEntry, AnimationParticipant, MATCH_ANY, SlotManifest
from interactions.base.basic import TunableBasicContentSet
from interactions.base.super_interaction import SuperInteraction
from interactions.constraints import Constraint
from event_testing.results import TestResult
from postures.posture_state_spec import PostureStateSpec
from sims4.tuning.tunable import TunableReference
import services
CARRY_TARGET_POSTURE_MANIFEST = PostureManifest((PostureManifestEntry(None, None, None, None, AnimationParticipant.TARGET, MATCH_ANY, MATCH_ANY), PostureManifestEntry(None, None, None, None, MATCH_ANY, AnimationParticipant.TARGET, MATCH_ANY))).intern()
CARRY_TARGET_POSTURE_STATE_SPEC = PostureStateSpec(CARRY_TARGET_POSTURE_MANIFEST, SlotManifest().intern(), None)
class PickUpObjectSuperInteraction(SuperInteraction):
__qualname__ = 'PickUpObjectSuperInteraction'
INSTANCE_TUNABLES = {'basic_content': TunableBasicContentSet(one_shot=True, no_content=True, default='no_content'), 'si_to_push': TunableReference(services.affordance_manager(), description='SI to push after picking up the object.')}
@classmethod
def _constraint_gen(cls, *args, **kwargs):
yield Constraint(debug_name='PickUpObjectSuperInteraction({})'.format(cls.si_to_push), posture_state_spec=CARRY_TARGET_POSTURE_STATE_SPEC)
@classmethod
def _test(cls, target, context, **kwargs):
from sims.sim import Sim
if isinstance(target.parent, Sim):
return TestResult(False, 'Cannot pick up an object parented to a Sim.')
if context.source == context.SOURCE_AUTONOMY and context.sim.posture_state.get_carry_track(target.definition.id) is not None:
return TestResult(False, 'Sims should not autonomously pick up more than one object.')
return TestResult.TRUE
class CarryCancelInteraction(SuperInteraction):
__qualname__ = 'CarryCancelInteraction'
def __init__(self,
sim,
current_posture_state,
posture_spec,
var_map,
invalid_expected=False,
body_state_spec_only=False,
carry_posture_overrides=frozendict(),
is_throwaway=False):
def _get_default_carry_aspect(track):
if track in carry_posture_overrides:
return carry_posture_overrides[track]
return postures.create_posture(
CarryPostureStaticTuning.POSTURE_CARRY_NOTHING,
sim,
None,
track=track)
self._constraint_intersection = None
self._constraint_intersection_dirty = True
self._spec = posture_spec
self._sim_ref = sim.ref()
self._linked_posture_state = None
self._valid = True
self._constraints = {}
self._invalid_expected = invalid_expected
self.body_state_spec_only = body_state_spec_only
self._posture_constraint = None
self._posture_constraint_strict = None
body_index = BODY_INDEX
body_posture_type_index = BODY_POSTURE_TYPE_INDEX
body_target_index = BODY_TARGET_INDEX
spec_body = posture_spec[body_index]
self.body_target = spec_body[body_target_index]
if current_posture_state is None or spec_body[
body_posture_type_index] != current_posture_state.body.posture_type or spec_body[
body_target_index] != current_posture_state.body.target:
animation_context = None
if current_posture_state is not None:
if not current_posture_state.body.mobile:
if not spec_body[body_posture_type_index].mobile:
animation_context = current_posture_state.body.animation_context
self._aspect_body = postures.create_posture(
spec_body[body_posture_type_index],
self.sim,
self.body_target,
animation_context=animation_context,
is_throwaway=is_throwaway)
else:
self._aspect_body = current_posture_state.body
posture_manifest = self._aspect_body.get_provided_postures(
surface_target=self.surface_target, concrete=True)
posture_manifest = posture_manifest.get_constraint_version(self.sim)
posture_state_spec = PostureStateSpec(
posture_manifest, SlotManifest(), self._aspect_body.target
or PostureSpecVariable.ANYTHING)
self.body_posture_state_constraint = Constraint(
debug_name='PostureStateManifestConstraint',
posture_state_spec=posture_state_spec)
if body_state_spec_only:
self._constraints[None] = self.body_posture_state_constraint
return
body_slot_constraint = self._aspect_body.slot_constraint
if not (body_slot_constraint is not None and
(self._aspect_body.is_vehicle and current_posture_state
is not None) and current_posture_state.body.is_vehicle):
body_posture_constraint = self.body_posture_state_constraint.intersect(
body_slot_constraint)
else:
body_posture_constraint = self.body_posture_state_constraint
self._constraints[None] = body_posture_constraint
if current_posture_state is not None:
curr_spec_carry_target = current_posture_state.get_posture_spec(
var_map)[CARRY_INDEX][CARRY_TARGET_INDEX]
spec_carry = posture_spec[CARRY_INDEX]
spec_carry_target = spec_carry[CARRY_TARGET_INDEX]
if current_posture_state is not None and spec_carry_target != curr_spec_carry_target:
if spec_carry_target is None:
current_carry_target = var_map.get(curr_spec_carry_target)
current_carry_track = current_posture_state.get_carry_track(
current_carry_target)
if current_carry_track == PostureTrack.RIGHT:
self._aspect_carry_right = _get_default_carry_aspect(
PostureTrack.RIGHT)
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_left = _get_default_carry_aspect(
PostureTrack.LEFT)
self._aspect_carry_right = current_posture_state.right
else:
spec_carry_posture_type = spec_carry[CARRY_POSTURE_TYPE_INDEX]
if spec_carry_target not in var_map:
raise KeyError(
'spec_carry_target {} not in var_map:{}. Sim posture state {} and carry aspects {}, '
.format(spec_carry_target, var_map,
current_posture_state,
current_posture_state.carry_aspects))
if spec_carry_posture_type not in var_map:
carry_target = var_map[spec_carry_target]
aop = posture_specs.get_carry_posture_aop(
sim, carry_target)
if aop is None:
raise RuntimeError(
'Sim {} failed to find carry posture aop for carry target {}.'
.format(sim, carry_target))
carry_posture_type = aop.affordance._carry_posture_type
if carry_posture_type is None:
raise KeyError
var_map += {
PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT:
carry_posture_type
}
carry_target = var_map[spec_carry_target]
carry_posture_type = var_map[spec_carry_posture_type]
if spec_carry[CARRY_HAND_INDEX] in var_map:
hand = var_map[spec_carry[CARRY_HAND_INDEX]]
else:
for hand in sim.posture_state.get_free_hands():
if hand in carry_target.get_allowed_hands(sim):
break
else:
raise RuntimeError('No allowable free hand was empty.')
new_carry_aspect = postures.create_posture(
carry_posture_type,
self.sim,
carry_target,
track=hand_to_track(hand),
is_throwaway=is_throwaway)
if hand == Hand.LEFT:
self._aspect_carry_left = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_right = current_posture_state.right
else:
self._aspect_carry_right = _get_default_carry_aspect(
PostureTrack.RIGHT)
elif hand == Hand.RIGHT:
self._aspect_carry_right = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_right = _get_default_carry_aspect(
PostureTrack.LEFT)
else:
raise RuntimeError(
'Invalid value specified for hand: {}'.format(hand))
elif current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
self._aspect_carry_right = current_posture_state.right
elif spec_carry_target is not None:
carry_target = var_map[spec_carry_target]
spec_carry_posture_type = spec_carry[CARRY_POSTURE_TYPE_INDEX]
carry_posture_type = var_map.get(spec_carry_posture_type)
if carry_posture_type is None:
aop = get_carry_posture_aop(sim, carry_target)
if aop is None and invalid_expected:
return
carry_posture_type = aop.affordance._carry_posture_type
if spec_carry[CARRY_HAND_INDEX] in var_map:
hand = var_map[spec_carry[CARRY_HAND_INDEX]]
else:
allowed_hands = carry_target.get_allowed_hands(sim)
hand = allowed_hands[0]
new_carry_aspect = postures.create_posture(
carry_posture_type,
self.sim,
carry_target,
track=hand_to_track(hand),
is_throwaway=is_throwaway)
if hand == Hand.LEFT:
self._aspect_carry_left = new_carry_aspect
self._aspect_carry_right = _get_default_carry_aspect(
PostureTrack.RIGHT)
else:
self._aspect_carry_right = new_carry_aspect
self._aspect_carry_left = _get_default_carry_aspect(
PostureTrack.LEFT)
else:
self._aspect_carry_left = _get_default_carry_aspect(
PostureTrack.LEFT)
self._aspect_carry_right = _get_default_carry_aspect(
PostureTrack.RIGHT)
from interactions.base.basic import TunableBasicContentSet
from interactions.base.super_interaction import SuperInteraction
from interactions.constraints import Constraint
from event_testing.results import TestResult
from postures.posture_state_spec import PostureStateSpec
from sims4.tuning.tunable import TunableReference
import services
CARRY_TARGET_POSTURE_MANIFEST = PostureManifest(
(PostureManifestEntry(None, None, None, None, AnimationParticipant.TARGET,
MATCH_ANY, MATCH_ANY),
PostureManifestEntry(None, None, None, None, MATCH_ANY,
AnimationParticipant.TARGET, MATCH_ANY))).intern()
CARRY_TARGET_POSTURE_STATE_SPEC = PostureStateSpec(
CARRY_TARGET_POSTURE_MANIFEST,
SlotManifest().intern(), None)
class PickUpObjectSuperInteraction(SuperInteraction):
INSTANCE_TUNABLES = {
'basic_content':
TunableBasicContentSet(one_shot=True,
no_content=True,
default='no_content'),
'si_to_push':
TunableReference(services.affordance_manager(),
allow_none=True,
description='SI to push after picking up the object.')
}
@classmethod
def create_body_posture_state_spec(posture_manifest,
body_target=PostureSpecVariable.ANYTHING):
return PostureStateSpec(posture_manifest,
SlotManifest().intern(), body_target)
def __init__(self, sim, current_posture_state, posture_spec, var_map, invalid_expected=False, body_state_spec_only=False):
self._constraint_intersection = None
self._constraint_intersection_dirty = True
self._spec = posture_spec
self._sim_ref = sim.ref()
self._linked_posture_state = None
self._valid = True
self._constraints = {}
self._invalid_expected = invalid_expected
self.body_state_spec_only = body_state_spec_only
self._posture_constraint = None
self._posture_constraint_strict = None
body_index = BODY_INDEX
body_posture_type_index = BODY_POSTURE_TYPE_INDEX
body_target_index = BODY_TARGET_INDEX
spec_body = posture_spec[body_index]
self.body_target = spec_body[body_target_index]
if current_posture_state is None or spec_body[body_posture_type_index] != current_posture_state.body.posture_type or spec_body[body_target_index] != current_posture_state.body.target:
animation_context = None
if current_posture_state is not None and not current_posture_state.body.mobile and not spec_body[body_posture_type_index].mobile:
animation_context = current_posture_state.body.animation_context
self._aspect_body = postures.create_posture(spec_body[body_posture_type_index], self.sim, self.body_target, animation_context=animation_context)
else:
self._aspect_body = current_posture_state.body
posture_manifest = self._aspect_body.get_provided_postures(surface_target=self.surface_target, concrete=True)
posture_manifest = posture_manifest.get_constraint_version(self.sim)
posture_state_spec = PostureStateSpec(posture_manifest, SlotManifest(), self._aspect_body.target or PostureSpecVariable.ANYTHING)
self.body_posture_state_constraint = Constraint(debug_name='PostureStateManifestConstraint', posture_state_spec=posture_state_spec)
if body_state_spec_only:
self._constraints[self] = self.body_posture_state_constraint
return
body_slot_constraint = self._aspect_body.slot_constraint
if body_slot_constraint is not None:
body_posture_constraint = self.body_posture_state_constraint.intersect(body_slot_constraint)
else:
body_posture_constraint = self.body_posture_state_constraint
self._constraints[self] = body_posture_constraint
if current_posture_state is not None:
curr_spec_carry_target = current_posture_state.get_posture_spec(var_map)[CARRY_INDEX][CARRY_TARGET_INDEX]
spec_carry = posture_spec[CARRY_INDEX]
spec_carry_target = spec_carry[CARRY_TARGET_INDEX]
if current_posture_state is not None and spec_carry_target != curr_spec_carry_target:
if spec_carry_target is None:
current_carry_target = var_map.get(curr_spec_carry_target)
current_carry_track = current_posture_state.get_carry_track(current_carry_target)
if current_carry_track == PostureTrack.RIGHT:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.RIGHT)
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_left = self._get_default_carry_aspect(PostureTrack.LEFT)
self._aspect_carry_right = current_posture_state.right
spec_carry_posture_type = spec_carry[CARRY_POSTURE_TYPE_INDEX]
if spec_carry_target not in var_map:
raise KeyError
if spec_carry_posture_type not in var_map:
aop = posture_specs.get_carry_posture_aop(sim, var_map[spec_carry_target])
carry_posture_type = aop.affordance._carry_posture_type
if carry_posture_type is None:
raise KeyError
var_map += {PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT: carry_posture_type}
carry_target = var_map[spec_carry_target]
carry_posture_type = var_map[spec_carry_posture_type]
if spec_carry[CARRY_HAND_INDEX] in var_map:
hand = var_map[spec_carry[CARRY_HAND_INDEX]]
else:
for hand in sim.posture_state.get_free_hands():
while hand in carry_target.allowed_hands:
break
raise RuntimeError('No allowable free hand was empty.')
new_carry_aspect = postures.create_posture(carry_posture_type, self.sim, carry_target, track=self.hand_to_track(hand))
if hand == Hand.LEFT:
self._aspect_carry_left = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_right = current_posture_state.right
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.RIGHT)
if hand == Hand.RIGHT:
self._aspect_carry_right = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.LEFT)
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
else:
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
elif hand == Hand.RIGHT:
self._aspect_carry_right = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.LEFT)
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
else:
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
else:
spec_carry_posture_type = spec_carry[CARRY_POSTURE_TYPE_INDEX]
if spec_carry_target not in var_map:
raise KeyError
if spec_carry_posture_type not in var_map:
aop = posture_specs.get_carry_posture_aop(sim, var_map[spec_carry_target])
carry_posture_type = aop.affordance._carry_posture_type
if carry_posture_type is None:
raise KeyError
var_map += {PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT: carry_posture_type}
carry_target = var_map[spec_carry_target]
carry_posture_type = var_map[spec_carry_posture_type]
if spec_carry[CARRY_HAND_INDEX] in var_map:
hand = var_map[spec_carry[CARRY_HAND_INDEX]]
else:
for hand in sim.posture_state.get_free_hands():
while hand in carry_target.allowed_hands:
break
raise RuntimeError('No allowable free hand was empty.')
new_carry_aspect = postures.create_posture(carry_posture_type, self.sim, carry_target, track=self.hand_to_track(hand))
if hand == Hand.LEFT:
self._aspect_carry_left = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_right = current_posture_state.right
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.RIGHT)
if hand == Hand.RIGHT:
self._aspect_carry_right = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.LEFT)
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
else:
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
elif hand == Hand.RIGHT:
self._aspect_carry_right = new_carry_aspect
if current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
else:
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.LEFT)
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
else:
raise RuntimeError('Invalid value specified for hand: {}'.format(hand))
elif current_posture_state is not None:
self._aspect_carry_left = current_posture_state.left
self._aspect_carry_right = current_posture_state.right
elif spec_carry_target is not None:
carry_target = var_map[spec_carry_target]
spec_carry_posture_type = spec_carry[CARRY_POSTURE_TYPE_INDEX]
carry_posture_type = var_map.get(spec_carry_posture_type)
if carry_posture_type is None:
aop = get_carry_posture_aop(sim, carry_target)
if aop is None and invalid_expected:
return
carry_posture_type = aop.affordance._carry_posture_type
if spec_carry[CARRY_HAND_INDEX] in var_map:
hand = var_map[spec_carry[CARRY_HAND_INDEX]]
else:
hand = carry_target.allowed_hands[0]
new_carry_aspect = postures.create_posture(carry_posture_type, self.sim, carry_target, track=self.hand_to_track(hand))
if hand == Hand.LEFT:
self._aspect_carry_left = new_carry_aspect
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.RIGHT)
else:
self._aspect_carry_right = new_carry_aspect
self._aspect_carry_left = self._get_default_carry_aspect(PostureTrack.LEFT)
else:
self._aspect_carry_left = self._get_default_carry_aspect(PostureTrack.LEFT)
self._aspect_carry_right = self._get_default_carry_aspect(PostureTrack.RIGHT)