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