manipulation_worlds: make_sushi_shelf.py Source File

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00001 #!/usr/bin/env python
00002 from make_ply import *
00003 
00004 outfile = file("sushi_shelf.ply", 'w')
00005 
00006 vertices = []
00007 faces = []
00008 #vertical posts
00009 add_box([0.,0.,0.], 8.5,1.5,174., vertices, faces)
00010 add_box([73.4,0.,0.], 8.5,1.5,174., vertices, faces)
00011 add_box([146.8,0.,0.],  8.5,1.5,174., vertices, faces)
00012 add_box([0.,31.8,0.], 8.5,1.5,174., vertices, faces)
00013 add_box([73.4,31.8,0], 8.5,1.5,174., vertices, faces)
00014 add_box([146.8,31.8,0.], 8.5,1.5,174., vertices, faces)
00015 
00016 #shelves
00017 add_box([0.,2.4,4.6], 155.3,28.5,1.5, vertices, faces)
00018 add_box([0.,2.4,55.8], 155.3,28.5,1.5, vertices, faces)
00019 add_box([0.,2.4,94.2], 155.3,28.5,1.5, vertices, faces)
00020 add_box([0.,2.4,171.], 155.3,28.5,1.5, vertices, faces)
00021 
00022 #convert from cm to m
00023 for i in range(len(vertices)):
00024     for j in range(3):
00025         vertices[i][j] *= .01
00026 
00027 write_ply(vertices, faces, outfile)
00028