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Max Hunt 2020-02-15 02:05:45 +00:00
parent 3c5ff184e0
commit 82c4864849
1 changed files with 6 additions and 24 deletions
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new_main.py
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@ -161,47 +161,29 @@ def cleanup():
for obj in brick_ids: for obj in brick_ids:
delete_model(obj) delete_model(obj)
cleanup()
# LET THE SHITSTORM BEGIN # LET THE SHITSTORM BEGIN
import numpy as np import numpy as np
import time import time
rospy.init_node("THIS_IS_A_FUCKING_DISASTER") # Am I wrong??
def etq(roll, pitch, yaw): def etq(roll, pitch, yaw):
qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
return [qx, qy, qz, qw] return [qx, qy, qz, qw]
POSSIBLES = [(0, 0, 0), (1.57, 0, 0), (0, 1.57, 0), (0, 0, 1.57), (1.57, 1.57, 0), (0, 1.57, 1.57), (1.57, 1.57, 1.57)]
brick_pose = Pose()
brick_pose.position.x = 0.485
brick_pose.position.y = 0.709
brick_pose.position.z = 0.818
brick_reference_frame = 'world'
for x in POSSIBLES:
print(x)
QUATS = etq(*x)
brick_pose.orientation.x = QUATS[0]
brick_pose.orientation.y = QUATS[1]
brick_pose.orientation.z = QUATS[2]
brick_pose.orientation.w = QUATS[3]
brick_id = brick_ids.pop()
spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)
time.sleep(3)
exit(0)
def spawn_v_brick(): def spawn_v_brick():
brick_pose = Pose() brick_pose = Pose()
brick_pose.position.x = 0.485 brick_pose.position.x = 0.485
brick_pose.position.y = 0.709 brick_pose.position.y = 0.709
brick_pose.position.z = 0.818 brick_pose.position.z = 0.818
brick_pose.orientation.x = 0.5 QUATS = etq(0, 1.57, 1.57)
brick_pose.orientation.y = 0.5 brick_pose.orientation.x = QUATS[0]
brick_pose.orientation.z = -0.5 brick_pose.orientation.y = QUATS[1]
brick_pose.orientation.w = 0.5 brick_pose.orientation.z = QUATS[2]
brick_pose.orientation.w = QUATS[3]
brick_reference_frame = 'world' brick_reference_frame = 'world'
brick_id = brick_ids.pop() brick_id = brick_ids.pop()
spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame) spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)