Python create_table Examples

Example #1

File: generate_cylinder_world.py Project: c-l/planopt

def add_drop_table(env, dist_from_robot):
  thickness = 0.1
  legheight = 0.4
  table = object_models.create_table(env, "table", 0.5, 0.5, thickness, 0.1, 0.1, legheight)

  x, y = dist_from_robot
  z = thickness / 2 + legheight
  rot = openravepy.quatFromAxisAngle((0, 0, 0))
  table.SetTransform(openravepy.matrixFromPose(list(rot) + [x, y, z]))
  env.AddKinBody(table)
  return table

Example #2

File: generate_cylinder_world.py Project: c-l/planopt

def spawn_table_pr2(env, robot_dist_from_table, tabletype='rll'):
    if tabletype == 'rll':
        thickness = 0.2
        legheight = 0.6
        table = object_models.create_table(env, TABLE_NAMES[tabletype], 2.235, 0.94, thickness, 1.3, 0.6, legheight)
    elif tabletype == 'small':
        thickness = 0.2
        legheight = 0.6
        table = object_models.create_table(env, TABLE_NAMES[tabletype], 0.7 - robot_dist_from_table, 1.5, thickness, 0.2 - robot_dist_from_table, 0.2, legheight)

    x = -utils.get_object_limits(table)[0] + 0.35 + robot_dist_from_table
    y = 0
    z = thickness / 2 + legheight
    table.SetTransform(openravepy.matrixFromPose([1, 0, 0, 0, x, y, z]))
    # env.AddKinBody(table)
    env.AddRobot(table)

    # robot = env.ReadRobotXMLFile("../models/pr2/pr2-head-kinect.xml")
    robot = env.ReadRobotXMLFile("../models/pr2/pr2.zae")
    env.Add(robot)