t2r3_payload_s2r1 = {
'payload_com': [0.06577595, 0.00058848, 0.00757901],
'payload_inertia':
[0.00052085, 0.00000700, 0.00016131, 0.00182462, 0.00000010, 0.00149477],
'payload_mass':
0.289
}
t2r3_dynamatics_a2r3_right = copy.deepcopy(t2r3_dynamatics_a2r3_right)
t2r3_dynamatics_a2r3_right_s2r1 = copy.deepcopy(t2r3_dynamatics_a2r3_right)
t2r3_dynamatics_bimanual_a2r3 = copy.deepcopy(t2r3_dynamatics_bimanual_a2r3)
t2r3_dynamatics_bimanual_a2r3_s2r1 = copy.deepcopy(
t2r3_dynamatics_bimanual_a2r3)
ct.set_payload(t2r3_dynamatics_a2r3_right, t2r3_payload_none)
ct.set_payload(t2r3_dynamatics_a2r3_right_s2r1, t2r3_payload_s2r1)
ct.set_payload(t2r3_dynamatics_bimanual_a2r3, t2r3_payload_none)
ct.set_payload(t2r3_dynamatics_bimanual_a2r3_s2r1, t2r3_payload_s2r1)
# ########################## T2.R3 ########################################
config_full_t2r3 = {
'actuator_ec':
[config_torso_t2r3_actuator_ec_j0, config_torso_t2r3_actuator_ec_j1],
'actuator': [config_torso_t2r3_actuator_j0, config_torso_t2r3_actuator_j1],
'joint': [
config_torso_t2r3_joint_j0,
config_torso_t2r3_joint_j1,
config_torso_t2r3_joint_j2,
],
'payload_mass': 0.0
}
#Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz
a1r1_payload_none = {
'payload_com': [0.0, 0.0, 0.0],
'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'payload_mass': 0.0
}
#Graspers w/FTS
a1r1_dynamatics_right_h2r3_fts = copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_h2r3_fts = copy.deepcopy(a1r1_dynamatics_left_arm)
a1r1_dynamatics_right_g1r1_fts = copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_g1r1_fts = copy.deepcopy(a1r1_dynamatics_left_arm)
ct.set_payload(a1r1_dynamatics_right_h2r3_fts, a1r1_payload_right_h2r3_fts)
ct.set_payload(a1r1_dynamatics_left_h2r3_fts, a1r1_payload_left_h2r3_fts)
ct.set_payload(a1r1_dynamatics_right_g1r1_fts, a1r1_payload_g1r1_fts)
ct.set_payload(a1r1_dynamatics_left_g1r1_fts, a1r1_payload_g1r1_fts)
#Graspers w/o FTS
a1r1_dynamatics_right_h2r3 = copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_h2r3 = copy.deepcopy(a1r1_dynamatics_left_arm)
a1r1_dynamatics_right_g1r1 = copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_g1r1 = copy.deepcopy(a1r1_dynamatics_left_arm)
ct.set_payload(a1r1_dynamatics_right_h2r3, a1r1_payload_right_h2r3)
ct.set_payload(a1r1_dynamatics_left_h2r3, a1r1_payload_left_h2r3)
ct.set_payload(a1r1_dynamatics_right_g1r1, a1r1_payload_g1r1)
ct.set_payload(a1r1_dynamatics_left_g1r1, a1r1_payload_g1r1)
#No Grasper
'payload_mass': 0.0
}
t2r3_payload_s2r1={
'payload_com': [0.06577595, 0.00058848, 0.00757901],
'payload_inertia': [0.00052085, 0.00000700, 0.00016131, 0.00182462, 0.00000010, 0.00149477],
'payload_mass': 0.289
}
t2r3_dynamatics_a2r3_right=copy.deepcopy(t2r3_dynamatics_a2r3_right)
t2r3_dynamatics_a2r3_right_s2r1=copy.deepcopy(t2r3_dynamatics_a2r3_right)
t2r3_dynamatics_bimanual_a2r3=copy.deepcopy(t2r3_dynamatics_bimanual_a2r3)
t2r3_dynamatics_bimanual_a2r3_s2r1=copy.deepcopy(t2r3_dynamatics_bimanual_a2r3)
ct.set_payload(t2r3_dynamatics_a2r3_right, t2r3_payload_none)
ct.set_payload(t2r3_dynamatics_a2r3_right_s2r1, t2r3_payload_s2r1)
ct.set_payload(t2r3_dynamatics_bimanual_a2r3, t2r3_payload_none)
ct.set_payload(t2r3_dynamatics_bimanual_a2r3_s2r1, t2r3_payload_s2r1)
# ########################## T2.R3 ########################################
config_full_t2r3={'actuator_ec':[config_torso_t2r3_actuator_ec_j0,
config_torso_t2r3_actuator_ec_j1],
'actuator':[config_torso_t2r3_actuator_j0,
config_torso_t2r3_actuator_j1],
'joint':[config_torso_t2r3_joint_j0,
config_torso_t2r3_joint_j1,
config_torso_t2r3_joint_j2,],
'dynamatics':{'a2r3_right':t2r3_dynamatics_a2r3_right,
'a2r3_right_s2r1':t2r3_dynamatics_a2r3_right_s2r1,
'payload_mass': 0.0
}
#Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz
a2r2_payload_none={
'payload_com': [0.0, 0.0, 0.0],
'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'payload_mass': 0.0
}
#Graspers w/FTS
a2r2_dynamatics_right_h2r2_fts=copy.deepcopy(a2r2_dynamatics_right_arm)
a2r2_dynamatics_left_h2r2_fts=copy.deepcopy(a2r2_dynamatics_left_arm)
a2r2_dynamatics_right_g1r1_fts=copy.deepcopy(a2r2_dynamatics_right_arm)
a2r2_dynamatics_left_g1r1_fts=copy.deepcopy(a2r2_dynamatics_left_arm)
ct.set_payload(a2r2_dynamatics_right_h2r2_fts, a2r2_payload_right_h2r2_fts)
ct.set_payload(a2r2_dynamatics_left_h2r2_fts, a2r2_payload_left_h2r2_fts)
ct.set_payload(a2r2_dynamatics_right_g1r1_fts, a2r2_payload_g1r1_fts)
ct.set_payload(a2r2_dynamatics_left_g1r1_fts, a2r2_payload_g1r1_fts)
#Graspers w/o FTS
a2r2_dynamatics_right_h2r2=copy.deepcopy(a2r2_dynamatics_right_arm)
a2r2_dynamatics_left_h2r2=copy.deepcopy(a2r2_dynamatics_left_arm)
a2r2_dynamatics_right_g1r1=copy.deepcopy(a2r2_dynamatics_right_arm)
a2r2_dynamatics_left_g1r1=copy.deepcopy(a2r2_dynamatics_left_arm)
ct.set_payload(a2r2_dynamatics_right_h2r2, a2r2_payload_right_h2r2)
ct.set_payload(a2r2_dynamatics_left_h2r2, a2r2_payload_left_h2r2)
ct.set_payload(a2r2_dynamatics_right_g1r1, a2r2_payload_g1r1)
ct.set_payload(a2r2_dynamatics_left_g1r1, a2r2_payload_g1r1)
#No Grasper
], #
'payload_mass':
0.834 #
}
#Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz
a2r4_payload_none = {
'payload_com': [0.0, 0.0, 0.0],
'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'payload_mass': 0.0
}
#Graspers w/FTS
a2r4_dynamatics_right_h2R4_fts = copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left_h2R4_fts = copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right_h2R4_fts, a2r4_payload_right_h2R4_fts)
ct.set_payload(a2r4_dynamatics_left_h2R4_fts, a2r4_payload_left_h2R4_fts)
#Graspers w/o FTS
a2r4_dynamatics_right_h2R4 = copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left_h2R4 = copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right_h2R4, a2r4_payload_right_h2R4)
ct.set_payload(a2r4_dynamatics_left_h2R4, a2r4_payload_left_h2R4)
#No Grasper
a2r4_dynamatics_right = copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left = copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right, a2r4_payload_none)
ct.set_payload(a2r4_dynamatics_left, a2r4_payload_none)
# ########################## A2.R4 ########################################
'payload_mass': 0.0
}
#Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz
a1r1_payload_none={
'payload_com': [0.0, 0.0, 0.0],
'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'payload_mass': 0.0
}
#Graspers w/FTS
a1r1_dynamatics_right_h2r3_fts=copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_h2r3_fts=copy.deepcopy(a1r1_dynamatics_left_arm)
a1r1_dynamatics_right_g1r1_fts=copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_g1r1_fts=copy.deepcopy(a1r1_dynamatics_left_arm)
ct.set_payload(a1r1_dynamatics_right_h2r3_fts, a1r1_payload_right_h2r3_fts)
ct.set_payload(a1r1_dynamatics_left_h2r3_fts, a1r1_payload_left_h2r3_fts)
ct.set_payload(a1r1_dynamatics_right_g1r1_fts, a1r1_payload_g1r1_fts)
ct.set_payload(a1r1_dynamatics_left_g1r1_fts, a1r1_payload_g1r1_fts)
#Graspers w/o FTS
a1r1_dynamatics_right_h2r3=copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_h2r3=copy.deepcopy(a1r1_dynamatics_left_arm)
a1r1_dynamatics_right_g1r1=copy.deepcopy(a1r1_dynamatics_right_arm)
a1r1_dynamatics_left_g1r1=copy.deepcopy(a1r1_dynamatics_left_arm)
ct.set_payload(a1r1_dynamatics_right_h2r3, a1r1_payload_right_h2r3)
ct.set_payload(a1r1_dynamatics_left_h2r3, a1r1_payload_left_h2r3)
ct.set_payload(a1r1_dynamatics_right_g1r1, a1r1_payload_g1r1)
ct.set_payload(a1r1_dynamatics_left_g1r1, a1r1_payload_g1r1)
#No Grasper
0.00007973,#
0.00081578],#
'payload_mass': 0.834#
}
#Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz
a2r4_payload_none={
'payload_com': [0.0, 0.0, 0.0],
'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'payload_mass': 0.0
}
#Graspers w/FTS
a2r4_dynamatics_right_h2R4_fts=copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left_h2R4_fts=copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right_h2R4_fts, a2r4_payload_right_h2R4_fts)
ct.set_payload(a2r4_dynamatics_left_h2R4_fts, a2r4_payload_left_h2R4_fts)
#Graspers w/o FTS
a2r4_dynamatics_right_h2R4=copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left_h2R4=copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right_h2R4, a2r4_payload_right_h2R4)
ct.set_payload(a2r4_dynamatics_left_h2R4, a2r4_payload_left_h2R4)
#No Grasper
a2r4_dynamatics_right=copy.deepcopy(a2r4_dynamatics_right_arm)
a2r4_dynamatics_left=copy.deepcopy(a2r4_dynamatics_left_arm)
ct.set_payload(a2r4_dynamatics_right, a2r4_payload_none)
ct.set_payload(a2r4_dynamatics_left, a2r4_payload_none)
# ########################## A2.R4 ########################################