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I GIVE UP

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This commit is contained in:
Max Hunt 2020-02-15 01:51:53 +00:00
parent 4e0712e597
commit e8802da8f5
2 changed files with 34 additions and 1 deletions
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32
new_main.py
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@ -148,6 +148,7 @@ class PickAndPlace(object):
# retract to clear object
self._retract()
brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
with open ("brick/model.sdf", "r") as brick_file:brick_sdf=brick_file.read().replace('\n', '')
@ -160,6 +161,37 @@ def cleanup():
for obj in brick_ids:
delete_model(obj)
#LET THE SHITSTORM BEGIN
import numpy as np
import time
rospy.init_node("THIS_IS_A_FUCKING_DISASTER") # Am I wrong??
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)
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)
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]
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:
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(1)
exit(0)
def spawn_v_brick():
brick_pose = Pose()
brick_pose.position.x = 0.485

3
redundant/brick_data.py
View File

@ -24,7 +24,8 @@ def etq(roll, pitch, yaw):
def q_extrapolator(obj):
return obj.orientation.x, obj.orientation.y, obj.orientation.z, obj.orientation.w
print(etq(1.570733, 1.570733, 1.570733))
print(etq(3.14, 1.57, 3.14))
print(etq(0, 1.57, 1.57))
exit(0)