def create_enter_carry_posture(sim, posture_state, carry_target, track):
from postures.posture_state import PostureState
var_map = {
PostureSpecVariable.CARRY_TARGET:
carry_target,
PostureSpecVariable.HAND:
PostureState.track_to_hand(track),
PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT:
CarryPostureStaticTuning.POSTURE_CARRY_OBJECT
}
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(
'[jpollak] 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(
'[jpollak] 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 create_exit_carry_posture(sim, target, interaction, use_posture_animations):
from postures.posture_state import PostureState
failure_result = (None, None, None, None, None)
slot_manifest = interaction.slot_manifest
old_carry_posture = sim.posture_state.get_carry_posture(target)
if old_carry_posture is None:
return failure_result
spec_surface = sim.posture_state.spec[SURFACE_INDEX]
if spec_surface is not None and spec_surface[SURFACE_SLOT_TYPE_INDEX] is not None:
put_down_operation = PostureOperation.PutDownObjectOnSurface(PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING, spec_surface[SURFACE_TARGET_INDEX], spec_surface[SURFACE_SLOT_TYPE_INDEX], PostureSpecVariable.CARRY_TARGET)
else:
put_down_operation = PostureOperation.PutDownObject(PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING, PostureSpecVariable.CARRY_TARGET)
var_map = {PostureSpecVariable.CARRY_TARGET: target, PostureSpecVariable.HAND: PostureState.track_to_hand(old_carry_posture.track), PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING: CarryPostureStaticTuning.POSTURE_CARRY_NOTHING, PostureSpecVariable.SLOT: slot_manifest, PostureSpecVariable.SLOT_TEST_DEFINITION: interaction.create_target}
current_spec = sim.posture_state.get_posture_spec(var_map)
if current_spec is None:
logger.warn('Failed to get posture spec for var_map: {} for {}', sim.posture_state, var_map)
return failure_result
new_posture_spec = put_down_operation.apply(current_spec)
if new_posture_spec is None:
logger.warn('Failed to apply put_down_operation: {}', put_down_operation)
return failure_result
if not new_posture_spec.validate_destination((new_posture_spec,), var_map, interaction.affordance):
logger.warn('Failed to validate put down spec {} with var map {}', new_posture_spec, var_map)
return failure_result
new_posture_state = PostureState(sim, sim.posture_state, new_posture_spec, var_map)
new_posture = new_posture_state.get_aspect(old_carry_posture.track)
new_posture.source_interaction = interaction.super_interaction
new_posture.external_transition = not use_posture_animations
posture_context = postures.context.PostureContext(interaction.context.source, interaction.priority, None)
transition = postures.transition.PostureTransition(new_posture, new_posture_state, posture_context, var_map)
transition.must_run = True
return (old_carry_posture, new_posture, new_posture_state, transition, var_map)
def create_exit_carry_posture(sim, target, interaction,
use_posture_animations):
from postures.posture_state import PostureState
failure_result = (None, None, None, None, None)
slot_manifest = interaction.slot_manifest
old_carry_posture = sim.posture_state.get_carry_posture(target)
if old_carry_posture is None:
return failure_result
spec_surface = sim.posture_state.spec[SURFACE_INDEX]
if spec_surface is not None and spec_surface[
SURFACE_SLOT_TYPE_INDEX] is not None:
put_down_operation = PostureOperation.PutDownObjectOnSurface(
PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING,
spec_surface[SURFACE_TARGET_INDEX],
spec_surface[SURFACE_SLOT_TYPE_INDEX],
PostureSpecVariable.CARRY_TARGET)
else:
put_down_operation = PostureOperation.PutDownObject(
PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING,
PostureSpecVariable.CARRY_TARGET)
var_map = {
PostureSpecVariable.CARRY_TARGET:
target,
PostureSpecVariable.HAND:
PostureState.track_to_hand(old_carry_posture.track),
PostureSpecVariable.POSTURE_TYPE_CARRY_NOTHING:
CarryPostureStaticTuning.POSTURE_CARRY_NOTHING,
PostureSpecVariable.SLOT:
slot_manifest,
PostureSpecVariable.SLOT_TEST_DEFINITION:
interaction.create_target
}
current_spec = sim.posture_state.get_posture_spec(var_map)
if current_spec is None:
logger.warn('Failed to get posture spec for var_map: {} for {}',
sim.posture_state, var_map)
return failure_result
new_posture_spec = put_down_operation.apply(current_spec)
if new_posture_spec is None:
logger.warn('Failed to apply put_down_operation: {}',
put_down_operation)
return failure_result
if not new_posture_spec.validate_destination(
(new_posture_spec, ), var_map, interaction.affordance):
logger.warn('Failed to validate put down spec {} with var map {}',
new_posture_spec, var_map)
return failure_result
new_posture_state = PostureState(sim, sim.posture_state, new_posture_spec,
var_map)
new_posture = new_posture_state.get_aspect(old_carry_posture.track)
new_posture.source_interaction = interaction.super_interaction
new_posture.external_transition = not use_posture_animations
posture_context = postures.context.PostureContext(
interaction.context.source, interaction.priority, None)
transition = postures.transition.PostureTransition(new_posture,
new_posture_state,
posture_context,
var_map)
transition.must_run = True
return (old_carry_posture, new_posture, new_posture_state, transition,
var_map)
def create_enter_carry_posture(sim, posture_state, carry_target, track):
from postures.posture_state import PostureState
var_map = {PostureSpecVariable.CARRY_TARGET: carry_target, PostureSpecVariable.HAND: PostureState.track_to_hand(track), PostureSpecVariable.POSTURE_TYPE_CARRY_OBJECT: CarryPostureStaticTuning.POSTURE_CARRY_OBJECT}
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('[jpollak] 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('[jpollak] 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)