def op_stack(scene, config, op):
(act,obj,dst) = op
nop = tm.op_nop(scene,config)
g_tf_d = tm.op_tf_abs(nop,dst)
d_tf_o = aa.tf2(1, [0,0, place_height(scene,obj) + place_height(scene,dst) + EPSILON])
g_tf_o = aa.mul(g_tf_d, d_tf_o)
return place_tf(nop, obj, dst, g_tf_o)
def op_put_down(scene, config, op):
(a, obj, dst, i, j) = op
nop = tm.op_nop(scene,config)
x = i*RESOLUTION
y = j*RESOLUTION
z = place_height(scene,obj) + place_height(scene,dst) + EPSILON
d_tf_o = aa.tf2( 1, [x,y,z] )
g_tf_d = tm.op_tf_abs(nop,dst)
g_tf_o = aa.mul(g_tf_d, d_tf_o );
return place_tf(nop, obj, dst, g_tf_o)
def op_stack(scene, config, op):
(act,obj,dst) = op
nop = tm.op_nop(scene,config)
op_pick = pick(nop, obj)
return stack( op_pick, obj, dst )
def op_pick_up(scene, config, op):
#(a, obj, src, i, j) = op
obj = op[1]
nop = tm.op_nop(scene,config)
mp = motion_plan(nop, FRAME, tm.op_tf_abs(nop,obj))
return tm.op_reparent(mp, FRAME, obj)
def op_transfer(scene, config, op):
(act, obj, dst_frame, dst_i, dst_j) = op
nop = tm.op_nop(scene,config)
op_pick = pick(nop,obj)
return place( op_pick, obj, dst_frame, dst_i, dst_j )