def add_cylinder(world, color_name, idx=0, **kwargs): name = name_from_type(color_name, idx) body = create_cylinder(radius=0.07 / 2, height=0.14, color=COLOR_FROM_NAME[color_name]) world.add(name, body) # pose2d_on_surface(world, name, COUNTERS[0], **kwargs) return name
def add_box(world, color_name, idx=0, **kwargs): name = name_from_type(color_name, idx) # TODO: geometry type body = create_box(w=0.07, l=0.07, h=0.14, color=COLOR_FROM_NAME[color_name]) world.add(name, body) # pose2d_on_surface(world, name, COUNTERS[0], **kwargs) return name
def add_block(world, idx=0, **kwargs): # TODO: automatically produce a unique name color = 'green' #block_type = '{}_block'.format(color) block_type = 'block'.format(color) #block_type = BLOCK_TEMPLATE.format(BLOCK_SIZES[-1], BLOCK_COLORS[0]) #block_type = 'potted_meat_can' name = name_from_type(block_type, idx) #world.add_body(name) #print(get_aabb_extent(get_aabb(world.get_body(name)))) side = BIG_BLOCK_SIDE body = create_box(w=side, l=side, h=side, color=COLOR_FROM_NAME[color]) world.add(name, body) pose2d_on_surface(world, name, COUNTERS[0], **kwargs) return name
def add_ycb(world, ycb_type, idx=0, **kwargs): name = name_from_type(ycb_type, idx) world.add_body(name, color=np.ones(4)) pose2d_on_surface(world, name, COUNTERS[0], **kwargs) return name