def place_tf(op, obj, dst_frame, g_tf_o ):
mp = motion_plan(op, obj, g_tf_o)
return tm.op_reparent(mp, dst_frame, obj)
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 pick(op, obj):
mp = motion_plan(op, FRAME, tm.op_tf_abs(op,obj))
return tm.op_reparent(mp, FRAME, obj)