I use this:

grid for table1
def index():
    return dict(grid=SQLFORM.grid(Almoxarifado, links = [lambda row:
A('Listar Objetos',_href=URL('objeto','index',args=[row.id]))],
user_signature=False, csv=False))

grid for table2
def index():
    if (not request.args)  and (not request.vars):
redirect(URL('almoxarifado','index'))
    alm = None
    if request.args: alm = request.args(0)
    try:
        if alm:
            alm = int(alm)
            session.almoxarifado=alm
            session.nomealmox = Almoxarifado[alm].nome
    except ValueError:
        pass
    Objeto.almoxarifado_id.default = session.almoxarifado
    form = SQLFORM.grid(Objeto.almoxarifado_id == session.almoxarifado,
fields=[Objeto.nome, Objeto.quantidade, Objeto.localizacao],
user_signature=False, csv=False)
    return dict(form=form, nome=session.nomealmox)

-- 
Resources:
- http://web2py.com
- http://web2py.com/book (Documentation)
- http://github.com/web2py/web2py (Source code)
- https://code.google.com/p/web2py/issues/list (Report Issues)
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