def _create_enter_carry_posture(sim, posture_state, carry_target, track):
var_map = {
PostureSpecVariable.CARRY_TARGET:
carry_target,
PostureSpecVariable.HAND:
track_to_hand(track),
PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT:
carry_target.get_carry_object_posture()
}
pick_up_operation = PostureOperation.PickUpObject(
PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT,
PostureSpecVariable.CARRY_TARGET)
new_source_aop = pick_up_operation.associated_aop(sim, var_map)
new_posture_spec = pick_up_operation.apply(
posture_state.get_posture_spec(var_map),
enter_carry_while_holding=True)
if new_posture_spec is None:
raise RuntimeError(
'[rmccord] Failed to create new_posture_spec in enter_carry_while_holding!'
)
new_posture_state = PostureState(sim, posture_state, new_posture_spec,
var_map)
new_posture = new_posture_state.get_aspect(track)
from carry.carry_postures import CarryingNothing
if new_posture is None or isinstance(new_posture, CarryingNothing):
raise RuntimeError(
'[rmccord] Failed to create a valid new_posture ({}) from new_posture_state ({}) in enter_carry_while_holding!'
.format(new_posture, new_posture_state))
new_posture.external_transition = True
return (new_posture_state, new_posture, new_source_aop, var_map)
def get_provided_posture_change(cls, aop):
return PostureOperation.PickUpObject(cls.CARRY_NOTHING_POSTURE_TYPE, None)
def get_provided_posture_change(cls, aop):
return PostureOperation.PickUpObject(cls._carry_posture_type, aop.target)